Retire zpool_id infrastructure

In the interest of maintaining only one udev helper to give vdevs
user friendly names, the zpool_id and zpool_layout infrastructure
is being retired. They are superseded by vdev_id which incorporates
all the previous functionality.

Documentation for the new vdev_id(8) helper and its configuration
file, vdev_id.conf(5), can be found in their respective man pages.
Several useful example files are installed under /etc/zfs/.

/etc/zfs/vdev_id.conf.alias.example
/etc/zfs/vdev_id.conf.multipath.example
/etc/zfs/vdev_id.conf.sas_direct.example
/etc/zfs/vdev_id.conf.sas_switch.example

Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>
Closes #981