[SPARK-16809] enable history server links in dispatcher UI

## What changes were proposed in this pull request?

Links the Spark Mesos Dispatcher UI to the history server UI

- adds spark.mesos.dispatcher.historyServer.url
- explicitly generates frameworkIDs for the launched drivers, so the dispatcher knows how to correlate drivers and frameworkIDs

## How was this patch tested?

manual testing

Author: Michael Gummelt <mgummelt@mesosphere.io>
Author: Sergiusz Urbaniak <sur@mesosphere.io>

Closes #14414 from mgummelt/history-server.