Merge pull request #173 from kayousterhout/scheduler_hang

Fix bug where scheduler could hang after task failure.

When a task fails, we need to call reviveOffers() so that the
task can be rescheduled on a different machine. In the current code,
the state in ClusterTaskSetManager indicating which tasks are
pending may be updated after revive offers is called (there's a
race condition here), so when revive offers is called, the task set
manager does not yet realize that there are failed tasks that need
to be relaunched.

This isn't currently unit tested but will be once my pull request for
merging the cluster and local schedulers goes in -- at which point
many more of the unit tests will exercise the code paths through
the cluster scheduler (currently the failure test suite uses the local
scheduler, which is why we didn't see this bug before).