cluster: add graceful disconnect support

This patch add a worker.disconnect() method there will stop the worker from accepting
new connections and then stop the IPC. This allow the worker to die graceful.
When the IPC has been disconnected a 'disconnect' event will emit.

The patch also add a cluster.disconnect() method, this will call worker.disconnect() on
all connected workers. When the workers are disconneted it will then close all server
handlers. This allow the cluster itself to self terminate in a graceful way.