[SPARK-5484][GRAPHX] Periodically do checkpoint in Pregel

## What changes were proposed in this pull request?

Pregel-based iterative algorithms with more than ~50 iterations begin to slow down and eventually fail with a StackOverflowError due to Spark's lack of support for long lineage chains.

This PR causes Pregel to checkpoint the graph periodically if the checkpoint directory is set.
This PR moves PeriodicGraphCheckpointer.scala from mllib to graphx, moves PeriodicRDDCheckpointer.scala, PeriodicCheckpointer.scala from mllib to core
## How was this patch tested?

unit tests, manual tests
(Please explain how this patch was tested. E.g. unit tests, integration tests, manual tests)

(If this patch involves UI changes, please attach a screenshot; otherwise, remove this)

Author: ding <ding@localhost.localdomain>
Author: dding3 <ding.ding@intel.com>
Author: Michael Allman <michael@videoamp.com>

Closes #15125 from dding3/cp2_pregel.