Add slow disk diagnosis to ZED

Slow disk response times can be indicative of a failing drive. ZFS
currently tracks slow I/Os (slower than zio_slow_io_ms) and generates
events (ereport.fs.zfs.delay). However, no action is taken by ZED,
like is done for checksum or I/O errors. This change adds slow disk
diagnosis to ZED which is opt-in using new VDEV properties:

  VDEV_PROP_SLOW_IO_N
  VDEV_PROP_SLOW_IO_T

If multiple VDEVs in a pool are undergoing slow I/Os, then it skips
the zpool_vdev_degrade().

Sponsored-By: OpenDrives Inc.
Sponsored-By: Klara Inc.
Reviewed-by: Tony Hutter <hutter2@llnl.gov>
Reviewed-by: Allan Jude <allan@klarasystems.com>
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Co-authored-by: Rob Wing <rob.wing@klarasystems.com>
Signed-off-by: Don Brady <don.brady@klarasystems.com>
Closes #15469