Implement taskq_dispatch_prealloc() interface

Implement taskq_dispatch_prealloc() interface

This patch implements the taskq_dispatch_prealloc() interface which
was introduced by the following illumos-gate commit.  It allows for
a preallocated taskq_ent_t to be used when dispatching items to a
taskq.  This eliminates a memory allocation which helps minimize
lock contention in the taskq when dispatching functions.

    commit 5aeb94743e3be0c51e86f73096334611ae3a058e
    Author: Garrett D'Amore <garrett@nexenta.com>
    Date:   Wed Jul 27 07:13:44 2011 -0700

    734 taskq_dispatch_prealloc() desired
    943 zio_interrupt ends up calling taskq_dispatch with TQ_SLEEP

Signed-off-by: Prakash Surya <surya1@llnl.gov>
Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>
Issue #65