OpenZFS 9079 - race condition in starting and ending condensing thread for indirect vdevs

The timeline of the race condition is the following:

[1] Thread A is about to finish condesing the first vdev in
    spa_condense_indirect_thread(), so it calls the
    spa_condense_indirect_complete_sync() sync task which sets
    the spa_condensing_indirect field to NULL. Waiting for the
    sync task to finish, thread A sleeps until the txg is done.
    When this happens, thread A will acquire spa_async_lock and
    set spa_condense_thread to NULL.

[2] While thread A waits for the txg to finish, thread B which is
    running spa_sync() checks whether it should condense the
    second vdev in vdev_indirect_should_condense() by checking the
    spa_condensing_indirect field which was set to NULL by
    spa_condense_indirect_thread() from thread A. So it goes on
    and tries to spawn a new condensing thread in
    spa_condense_indirect_start_sync() and the aforementioned
    assertions fails because thread A has not set spa_condense_thread
    to NULL (which is basically the last thing it does before returning).

The main issue here is that we rely on both spa_condensing_indirect
and spa_condense_thread to signify whether a condensing thread is
running. Ideally we would only use one throughout the codebase. In
addition, for managing spa_condense_thread we currently use
spa_async_lock which basically tights condensing to scrubing when
it comes to pausing and resuming those actions during spa export.

This commit introduces the ZTHR infrastructure, which is basically
threads created during spa_load()/spa_create() and exist until we
export or destroy the pool. ZTHRs sleep the majority of the time,
until they are notified to wake up and do some predefined type of work.

In the context of the current bug, a zthr to does the condensing of
indirect mappings replacing the older code that used bare kthreads.
When a pool is created, the condensing zthr is spawned but sleeps
right away, until it is awaken by a signal from spa_sync(). If an
existing pool is loaded, the condensing zthr looks if there is
anything to condense before going to sleep, in case we were condensing
mappings in the pool before it got exported.

The benefits of this solution are the following:
- The current bug is fixed
- spa_condensing_indirect is the sole indicator of whether we are
  currently condensing or not
- condensing is more decoupled from the spa_async_thread related
  functionality.

As a final note, this commit also sets up the path on upstreaming
other features that use the ZTHR code like zpool checkpoint and
fast clone deletion.

Authored by: Serapheim Dimitropoulos <[email protected]>
Reviewed by: Matt Ahrens <[email protected]>
Reviewed by: Pavel Zakharov <[email protected]>
Approved by: Hans Rosenfeld <[email protected]>
Ported-by: Tim Chase <[email protected]>

OpenZFS-issue: https://illumos.org/issues/9079
OpenZFS-commit: https://github.com/openzfs/openzfs/commit/3dc606ee
Closes #6900

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