OpenZFS 7968 - multi-threaded spa_sync()

Reviewed by: Pavel Zakharov <pavel.zakharov@delphix.com>
Reviewed by: Brad Lewis <brad.lewis@delphix.com>
Reviewed by: Saso Kiselkov <saso.kiselkov@nexenta.com>
Reviewed by: Brian Behlendorf <behlendorf1@llnl.gov>
Ported-by: Matthew Ahrens <mahrens@delphix.com>

spa_sync() iterates over all the dirty dnodes and processes each of them
by calling dnode_sync(). If there are many dirty dnodes (e.g. because we
created or removed a lot of files), the single thread of spa_sync()
calling dnode_sync() can become a bottleneck. Additionally, if many
dnodes are dirtied concurrently in open context (e.g. due to concurrent
file creation), the os_lock will experience lock contention via
dnode_setdirty().

The solution is to track dirty dnodes on a multilist_t, and for
spa_sync() to use separate threads to process each of the sublists in
the multilist.

OpenZFS-issue: https://www.illumos.org/issues/7968
OpenZFS-commit: https://github.com/openzfs/openzfs/commit/4a2a54c
Closes #5752