[SPARK-17714][CORE][TEST-MAVEN][TEST-HADOOP2.6] Avoid using ExecutorClassLoader to load Netty generated classes

## What changes were proposed in this pull request?

Netty's `MessageToMessageEncoder` uses [Javassist](https://github.com/netty/netty/blob/91a0bdc17a8298437d6de08a8958d753799bd4a6/common/src/main/java/io/netty/util/internal/JavassistTypeParameterMatcherGenerator.java#L62) to generate a matcher class and the implementation calls `Class.forName` to check if this class is already generated. If `MessageEncoder` or `MessageDecoder` is created in `ExecutorClassLoader.findClass`, it will cause `ClassCircularityError`. This is because loading this Netty generated class will call `ExecutorClassLoader.findClass` to search this class, and `ExecutorClassLoader` will try to use RPC to load it and cause to load the non-exist matcher class again. JVM will report `ClassCircularityError` to prevent such infinite recursion.

##### Why it only happens in Maven builds

It's because Maven and SBT have different class loader tree. The Maven build will set a URLClassLoader as the current context class loader to run the tests and expose this issue. The class loader tree is as following:

```
bootstrap class loader ------ ... ----- REPL class loader ---- ExecutorClassLoader
|
|
URLClasssLoader
```

The SBT build uses the bootstrap class loader directly and `ReplSuite.test("propagation of local properties")` is the first test in ReplSuite, which happens to load `io/netty/util/internal/__matchers__/org/apache/spark/network/protocol/MessageMatcher` into the bootstrap class loader (Note: in maven build, it's loaded into URLClasssLoader so it cannot be found in ExecutorClassLoader). This issue can be reproduced in SBT as well. Here are the produce steps:
- Enable `hadoop.caller.context.enabled`.
- Replace `Class.forName` with `Utils.classForName` in `object CallerContext`.
- Ignore `ReplSuite.test("propagation of local properties")`.
- Run `ReplSuite` using SBT.

This PR just creates a singleton MessageEncoder and MessageDecoder and makes sure they are created before switching to ExecutorClassLoader. TransportContext will be created when creating RpcEnv and that happens before creating ExecutorClassLoader.

## How was this patch tested?

Jenkins

Author: Shixiong Zhu <shixiong@databricks.com>

Closes #16859 from zsxwing/SPARK-17714.