Extend deadman logic

Extend deadman logic

The intent of this patch is extend the existing deadman code
such that it's flexible enough to be used by both ztest and
on production systems.  The proposed changes include:

* Added a new `zfs_deadman_failmode` module option which is
  used to dynamically control the behavior of the deadman.  It's
  loosely modeled after, but independant from, the pool failmode
  property.  It can be set to wait, continue, or panic.

    * wait     - Wait for the "hung" I/O (default)
    * continue - Attempt to recover from a "hung" I/O
    * panic    - Panic the system

* Added a new `zfs_deadman_ziotime_ms` module option which is
  analogous to `zfs_deadman_synctime_ms` except instead of
  applying to a pool TXG sync it applies to zio_wait().  A
  default value of 300s is used to define a "hung" zio.

* The ztest deadman thread has been re-enabled by default,
  aligned with the upstream OpenZFS code, and then extended
  to terminate the process when it takes significantly longer
  to complete than expected.

* The -G option was added to ztest to print the internal debug
  log when a fatal error is encountered.  This same option was
  previously added to zdb in commit fa603f82.  Update zloop.sh
  to unconditionally pass -G to obtain additional debugging.

* The FM_EREPORT_ZFS_DELAY event which was previously posted
  when the deadman detect a "hung" pool has been replaced by
  a new dedicated FM_EREPORT_ZFS_DEADMAN event.

* The proposed recovery logic attempts to restart a "hung"
  zio by calling zio_interrupt() on any outstanding leaf zios.
  We may want to further restrict this to zios in either the
  ZIO_STAGE_VDEV_IO_START or ZIO_STAGE_VDEV_IO_DONE stages.
  Calling zio_interrupt() is expected to only be useful for
  cases when an IO has been submitted to the physical device
  but for some reasonable the completion callback hasn't been
  called by the lower layers.  This shouldn't be possible but
  has been observed and may be caused by kernel/driver bugs.

* The 'zfs_deadman_synctime_ms' default value was reduced from
  1000s to 600s.

* Depending on how ztest fails there may be no cache file to
  move.  This should not be considered fatal, collect the logs
  which are available and carry on.

* Add deadman test cases for spa_deadman() and zio_wait().

* Increase default zfs_deadman_checktime_ms to 60s.

Reviewed-by: Tim Chase <tim@chase2k.com>
Reviewed by: Thomas Caputi <tcaputi@datto.com>
Reviewed-by: Giuseppe Di Natale <dinatale2@llnl.gov>
Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>
Closes #6999