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[SPARK-21456][MESOS] Make the driver failover_timeout configurable
## What changes were proposed in this pull request? Current behavior: in Mesos cluster mode, the driver failover_timeout is set to zero. If the driver temporarily loses connectivity with the Mesos master, the framework will be torn down and all executors killed. Proposed change: make the failover_timeout configurable via a new option, spark.mesos.driver.failoverTimeout. The default value is still zero. Note: with non-zero failover_timeout, an explicit teardown is needed in some cases. This is captured in https://issues.apache.org/jira/browse/SPARK-21458 ## How was this patch tested? Added a unit test to make sure the config option is set while creating the scheduler driver. Ran an integration test with mesosphere/spark showing that with a non-zero failover_timeout the Spark job finishes after a driver is disconnected from the master. Author: Susan X. Huynh <xhuynh@mesosphere.com> Closes #18674 from susanxhuynh/sh-mesos-failover-timeout.
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