[SPARK-4301] StreamingContext should not allow start() to be called after calling stop()

In Spark 1.0.0+, calling `stop()` on a StreamingContext that has not been started is a no-op which has no side-effects. This allows users to call `stop()` on a fresh StreamingContext followed by `start()`. I believe that this almost always indicates an error and is not behavior that we should support. Since we don't allow `start() stop() start()` then I don't think it makes sense to allow `stop() start()`.

The current behavior can lead to resource leaks when StreamingContext constructs its own SparkContext: if I call `stop(stopSparkContext=True)`, then I expect StreamingContext's underlying SparkContext to be stopped irrespective of whether the StreamingContext has been started. This is useful when writing unit test fixtures.

Prior discussions:
- https://github.com/apache/spark/pull/3053#discussion-diff-19710333R490
- https://github.com/apache/spark/pull/3121#issuecomment-61927353

Author: Josh Rosen <joshrosen@databricks.com>

Closes #3160 from JoshRosen/SPARK-4301 and squashes the following commits:

dbcc929 [Josh Rosen] Address more review comments
bdbe5da [Josh Rosen] Stop SparkContext after stopping scheduler, not before.
03e9c40 [Josh Rosen] Always stop SparkContext, even if stop(false) has already been called.
832a7f4 [Josh Rosen] Address review comment
5142517 [Josh Rosen] Add tests; improve Scaladoc.
813e471 [Josh Rosen] Revert workaround added in https://github.com/apache/spark/pull/3053/files#diff-e144dbee130ed84f9465853ddce65f8eR49
5558e70 [Josh Rosen] StreamingContext.stop() should stop SparkContext even if StreamingContext has not been started yet.