[SPARK-17511] Yarn Dynamic Allocation: Avoid marking released container as Failed

## What changes were proposed in this pull request?

Due to race conditions, the ` assert(numExecutorsRunning <= targetNumExecutors)` can fail causing `AssertionError`. So removed the assertion, instead moved the conditional check before launching new container:
```
java.lang.AssertionError: assertion failed
        at scala.Predef$.assert(Predef.scala:156)
        at org.apache.spark.deploy.yarn.YarnAllocator$$anonfun$runAllocatedContainers$1.org$apache$spark$deploy$yarn$YarnAllocator$$anonfun$$updateInternalState$1(YarnAllocator.scala:489)
        at org.apache.spark.deploy.yarn.YarnAllocator$$anonfun$runAllocatedContainers$1$$anon$1.run(YarnAllocator.scala:519)
        at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
        at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
        at java.lang.Thread.run(Thread.java:745)
```
## How was this patch tested?
This was manually tested using a large ForkAndJoin job with Dynamic Allocation enabled to validate the failing job succeeds, without any such exception.

Author: Kishor Patil <kpatil@yahoo-inc.com>

Closes #15069 from kishorvpatil/SPARK-17511.