[SPARK-14729][SCHEDULER] Refactored YARN scheduler creation code to use newly added ExternalClusterManager

## What changes were proposed in this pull request?
With the addition of ExternalClusterManager(ECM) interface in PR #11723, any cluster manager can now be integrated with Spark. It was suggested in  ExternalClusterManager PR that one of the existing cluster managers should start using the new interface to ensure that the API is correct. Ideally, all the existing cluster managers should eventually use the ECM interface but as a first step yarn will now use the ECM interface. This PR refactors YARN code from SparkContext.createTaskScheduler function  into YarnClusterManager that implements ECM interface.

## How was this patch tested?
Since this is refactoring, no new tests has been added. Existing tests have been run. Basic manual testing with YARN was done too.

Author: Hemant Bhanawat <hemant@snappydata.io>

Closes #12641 from hbhanawat/yarnClusterMgr.