Motivation

The current event loop shutdown logic is quite fragile and in the
epoll/NIO cases relies on the default 1 second wait/select timeout that
applies when there are no scheduled tasks. Without this default timeout
the shutdown would hang indefinitely.

The timeout only takes effect in this case because queued scheduled
tasks are first cancelled in
SingleThreadEventExecutor#confirmShutdown(), but I _think_ even this
isn't robust, since the main task queue is subsequently serviced which
could result in some new scheduled task being queued with much later
deadline.

It also means shutdowns are unnecessarily delayed by up to 1 second.

Modifications

- Add/extend unit tests to expose the issue
- Adjust SingleThreadEventExecutor shutdown and confirmShutdown methods
to explicitly add no-op tasks to the taskQueue so that the subsequent
event loop iteration doesn't enter blocking wait (as looks like was
originally intended)

Results

Faster and more robust shutdown of event loops, allows removal of the default wait timeout.
This is a port of #9616