OpenZFS 6531 - Provide mechanism to artificially limit disk performance

OpenZFS 6531 - Provide mechanism to artificially limit disk performance

Reviewed by: Paul Dagnelie <pcd@delphix.com>
Reviewed by: Matthew Ahrens <mahrens@delphix.com>
Reviewed by: George Wilson <george.wilson@delphix.com>
Approved by: Dan McDonald <danmcd@omniti.com>
Ported by: Tony Hutter <hutter2@llnl.gov>
Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>
OpenZFS-issue: https://www.illumos.org/issues/6531
OpenZFS-commit: https://github.com/openzfs/openzfs/commit/97e8130

Porting notes:
- Added new IO delay tracepoints, and moved common ZIO tracepoint macros
  to a new trace_common.h file.
- Used zio_delay_taskq() in place of OpenZFS's timeout_generic() function.
- Updated zinject man page
- Updated zpool_scrub test files