[SPARK-12154] Upgrade to Jersey 2

## What changes were proposed in this pull request?

Replace com.sun.jersey with org.glassfish.jersey. Changes to the Spark Web UI code were required to compile. The changes were relatively standard Jersey migration things.

## How was this patch tested?

I did a manual test for the standalone web APIs. Although I didn't test the functionality of the security filter itself, the code that changed non-trivially is how we actually register the filter. I attached a debugger to the Spark master and verified that the SecurityFilter code is indeed invoked upon hitting /api/v1/applications.

Author: mcheah <mcheah@palantir.com>

Closes #12715 from mccheah/feature/upgrade-jersey.