Always refuse receving non-resume stream when resume state exists

This fixes a hole in the situation where the resume state is left from
receiving a new dataset and, so, the state is set on the dataset itself
(as opposed to %recv child).

Additionally, distinguish incremental and resume streams in error
messages.

Reviewed-by: Matt Ahrens <matt@delphix.com>
Reviewed-by: Tom Caputi <tcaputi@datto.com>
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Andriy Gapon <avg@FreeBSD.org>
Closes #9252