[SPARK-5063] More helpful error messages for several invalid operations

This patch adds more helpful error messages for invalid programs that define nested RDDs, broadcast RDDs, perform actions inside of transformations (e.g. calling `count()` from inside of `map()`), and call certain methods on stopped SparkContexts.  Currently, these invalid programs lead to confusing NullPointerExceptions at runtime and have been a major source of questions on the mailing list and StackOverflow.

In a few cases, I chose to log warnings instead of throwing exceptions in order to avoid any chance that this patch breaks programs that worked "by accident" in earlier Spark releases (e.g. programs that define nested RDDs but never run any jobs with them).

In SparkContext, the new `assertNotStopped()` method is used to check whether methods are being invoked on a stopped SparkContext.  In some cases, user programs will not crash in spite of calling methods on stopped SparkContexts, so I've only added `assertNotStopped()` calls to methods that always throw exceptions when called on stopped contexts (e.g. by dereferencing a null `dagScheduler` pointer).

Author: Josh Rosen <joshrosen@databricks.com>

Closes #3884 from JoshRosen/SPARK-5063 and squashes the following commits:

a38774b [Josh Rosen] Fix spelling typo
a943e00 [Josh Rosen] Convert two exceptions into warnings in order to avoid breaking user programs in some edge-cases.
2d0d7f7 [Josh Rosen] Fix test to reflect 1.2.1 compatibility
3f0ea0c [Josh Rosen] Revert two unintentional formatting changes
8e5da69 [Josh Rosen] Remove assertNotStopped() calls for methods that were sometimes safe to call on stopped SC's in Spark 1.2
8cff41a [Josh Rosen] IllegalStateException fix
6ef68d0 [Josh Rosen] Fix Python line length issues.
9f6a0b8 [Josh Rosen] Add improved error messages to PySpark.
13afd0f [Josh Rosen] SparkException -> IllegalStateException
8d404f3 [Josh Rosen] Merge remote-tracking branch 'origin/master' into SPARK-5063
b39e041 [Josh Rosen] Fix BroadcastSuite test which broadcasted an RDD
99cc09f [Josh Rosen] Guard against calling methods on stopped SparkContexts.
34833e8 [Josh Rosen] Add more descriptive error message.
57cc8a1 [Josh Rosen] Add error message when directly broadcasting RDD.
15b2e6b [Josh Rosen] [SPARK-5063] Useful error messages for nested RDDs and actions inside of transformations