Bring over illumos ZFS FMA logic -- phase 1

This first phase brings over the ZFS SLM module, zfs_mod.c, to handle
auto operations in response to disk events. Disk event monitoring is
provided from libudev and generates the expected payload schema for
zfs_mod. This work leverages the recently added devid and phys_path
strings in the vdev label.

Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Don Brady <don.brady@intel.com>
Signed-off-by: Tony Hutter <hutter2@llnl.gov>
Closes #4673