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[BACKPORT] Decouple services from applications & unify worker start logic (#170) (#341)

* Decouple services from applications & unify worker start logic (#170)

* move service out of applications

* add worker start timeout

* resolve memory exceed error

# Conflicts:
#	mars/base_app.py
#	mars/compat/__init__.py
#	mars/deploy/local/core.py
#	mars/deploy/local/tests/test_cluster.py
#	mars/lib/sparse/core.py
#	mars/worker/__main__.py
#	mars/worker/service.py
#	mars/worker/tests/test_main.py

* rebuild objid when not cleaned

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