Force fault a vdev with 'zpool offline -f'

Force fault a vdev with 'zpool offline -f'

This patch adds a '-f' option to 'zpool offline' to fault a vdev
instead of bringing it offline.  Unlike the OFFLINE state, the
FAULTED state will trigger the FMA code, allowing for things like
autoreplace and triggering the slot fault LED.  The -f faults
persist across imports, unless they were set with the temporary
(-t) flag.  Both persistent and temporary faults can be cleared
with zpool clear.

Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Tony Hutter <hutter2@llnl.gov>
Closes #6094