[SPARK-13902][SCHEDULER] Make DAGScheduler not to create duplicate stage.

## What changes were proposed in this pull request?

`DAGScheduler`sometimes generate incorrect stage graph.

Suppose you have the following DAG:

```
[A] <--(s_A)-- [B] <--(s_B)-- [C] <--(s_C)-- [D]
            \                /
              <-------------
```

Note: [] means an RDD, () means a shuffle dependency.

Here, RDD `B` has a shuffle dependency on RDD `A`, and RDD `C` has shuffle dependency on both `B` and `A`. The shuffle dependency IDs are numbers in the `DAGScheduler`, but to make the example easier to understand, let's call the shuffled data from `A` shuffle dependency ID `s_A` and the shuffled data from `B` shuffle dependency ID `s_B`.
The `getAncestorShuffleDependencies` method in `DAGScheduler` (incorrectly) does not check for duplicates when it's adding ShuffleDependencies to the parents data structure, so for this DAG, when `getAncestorShuffleDependencies` gets called on `C` (previous of the final RDD), `getAncestorShuffleDependencies` will return `s_A`, `s_B`, `s_A` (`s_A` gets added twice: once when the method "visit"s RDD `C`, and once when the method "visit"s RDD `B`). This is problematic because this line of code: https://github.com/apache/spark/blob/8ef3399/core/src/main/scala/org/apache/spark/scheduler/DAGScheduler.scala#L289 then generates a new shuffle stage for each dependency returned by `getAncestorShuffleDependencies`, resulting in duplicate map stages that compute the map output from RDD `A`.

As a result, `DAGScheduler` generates the following stages and their parents for each shuffle:

| | stage | parents |
|----|----|----|
| s_A | ShuffleMapStage 2 | List() |
| s_B | ShuffleMapStage 1 | List(ShuffleMapStage 0) |
| s_C | ShuffleMapStage 3 | List(ShuffleMapStage 1, ShuffleMapStage 2) |
| - | ResultStage 4 | List(ShuffleMapStage 3) |

The stage for s_A should be `ShuffleMapStage 0`, but the stage for `s_A` is generated twice as `ShuffleMapStage 2` and `ShuffleMapStage 0` is overwritten by `ShuffleMapStage 2`, and the stage `ShuffleMap Stage1` keeps referring the old stage `ShuffleMapStage 0`.

This patch is fixing it.

## How was this patch tested?

I added the sample RDD graph to show the illegal stage graph to `DAGSchedulerSuite`.

Author: Takuya UESHIN <ueshin@happy-camper.st>

Closes #12655 from ueshin/issues/SPARK-13902.