[SPARK-986]: Job cancelation for PySpark

* Additions to the PySpark API to cancel jobs
* Monitor Thread in PythonRDD to kill Python workers if a task is interrupted

Author: Ahir Reddy <ahirreddy@gmail.com>

Closes #541 from ahirreddy/python-cancel and squashes the following commits:

dfdf447 [Ahir Reddy] Changed success -> completed and made logging message clearer
6c860ab [Ahir Reddy] PR Comments
4b4100a [Ahir Reddy] Success flag
adba6ed [Ahir Reddy] Destroy python workers
27a2f8f [Ahir Reddy] Start the writer thread...
d422f7b [Ahir Reddy] Remove unnecesssary vals
adda337 [Ahir Reddy] Busy wait on the ocntext.interrupted flag, and then kill the python worker
d9e472f [Ahir Reddy] Revert "removed unnecessary vals"
5b9cae5 [Ahir Reddy] removed unnecessary vals
07b54d9 [Ahir Reddy] Fix canceling unit test
8ae9681 [Ahir Reddy] Don't interrupt worker
7722342 [Ahir Reddy] Monitor Thread for python workers
db04e16 [Ahir Reddy] Added canceling api to PySpark