Avoid core dump on invalid redaction bookmark

Avoid core dump on invalid redaction bookmark

libzfs aborts and dumps core on EINVAL from the kernel when trying to
do a redacted send with a bookmark that is not a redaction bookmark.

Move redacted bookmark validation into libzfs.

Check if the bookmark given for redactions is actually a redaction
bookmark.  Print an error message and exit gracefully if it is not.

Don't abort on EINVAL in zfs_send_one.

Reviewed-by: Paul Dagnelie <pcd@delphix.com>
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Ryan Moeller <ryan@iXsystems.com>
Closes #10138