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  They are superseded by vdev_id which incorporates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 <[email protected]>
Closes #981

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