Add TASKQID_INVALID

Add the TASKQID_INVALID macros and update callers to use the macro
instead of testing against 0. There is no functional change
even though the functions in zfs_ctldir.c incorrectly used -1
instead of 0.

Reviewed-by: Tom Caputi <tcaputi@datto.com>
Reviewed-by: Tim Chase <tim@chase2k.com>
Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>
Issue #5347