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Provide async version of markLedgerUnderreplicated for LedgerUnderreplicationManager

Descriptions of the changes in this PR:

 ### Motivation

Auditor has multiple places calling sync methods in async callbacks.
This raises the possibility hitting deadlock. Issue #1578 is one of the examples.

After looking into the `LedgerUnderreplicationManager`, `markLedgerUnderreplicated`
is the only interface that will be called in async callbacks. This change is
to provide an async version of `markLedgerUnderreplicated`.

 ### Changes

- add `markLedgerUnderreplicatedAsync` interface in `LedgerUnderreplicationManager`.
- implement the logic of `markLedgerUnderreplicated` using async callbacks
- use `markLedgerUnderreplicatedAsync` in the Auditor

Related Issues: #1578
Master Issue: #1617

Author: Sijie Guo <sijie@apache.org>

Reviewers: Charan Reddy Guttapalem <reddycharan18@gmail.com>, Enrico Olivelli <eolivelli@gmail.com>, Matteo Merli <mmerli@apache.org>

This closes #1619 from sijie/async_sync_autorecovery

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