Add support for decryption faults in zinject

This patch adds the ability for zinject to trigger decryption
and authentication faults in the ZIO and ARC layers. This
functionality is exposed via the new "decrypt" error type, which
may be provided for "data" object types.

This patch also refactors some of the core encryption / decryption
functions so that they have consistent prototypes, handle errors
consistently, and do not have unused arguments.

Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Tom Caputi <tcaputi@datto.com>
Closes #7474