zed: detect and offline physically removed devices

This commit adds a new test case to the ZFS Test Suite to verify ZED
can detect when a device is physically removed from a running system:
the device will be offlined if a spare is not available in the pool.

We implement this by using the existing libudev functionality and
without relying solely on the FM kernel module capabilities which have
been observed to be unreliable with some kernels.

Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Reviewed-by: Don Brady <don.brady@delphix.com>
Signed-off-by: loli10K <ezomori.nozomu@gmail.com>
Closes #1537
Closes #7926