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[SPARK-10911] Executors should System.exit on clean shutdown.
Call system.exit explicitly to make sure non-daemon user threads terminate. Without this, user applications might live forever if the cluster manager does not appropriately kill them. E.g., YARN had this bug: HADOOP-12441. Author: zhuol <zhuol@yahoo-inc.com> Closes #9946 from zhuoliu/10911.
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