[SPARK-16299][SPARKR] Capture errors from R workers in daemon.R to avoid...

[SPARK-16299][SPARKR] Capture errors from R workers in daemon.R to avoid deletion of R session temporary directory.

## What changes were proposed in this pull request?
Capture errors from R workers in daemon.R to avoid deletion of R session temporary directory. See detailed description at https://issues.apache.org/jira/browse/SPARK-16299

## How was this patch tested?
SparkR unit tests.

Author: Sun Rui <sunrui2016@gmail.com>

Closes #13975 from sun-rui/SPARK-16299.