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[SPARK-23785][LAUNCHER] LauncherBackend doesn't check state of connection before setting state
## What changes were proposed in this pull request?
Changed `LauncherBackend` `set` method so that it checks if the connection is open or not before writing to it (uses `isConnected`).
## How was this patch tested?
None
Author: Sahil Takiar <[email protected]>
Closesapache#20893 from sahilTakiar/master.
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