Illumos #734: Use taskq_dispatch_ent() interface

Illumos #734: Use taskq_dispatch_ent() interface

It has been observed that some of the hottest locks are those
of the zio taskqs.  Contention on these locks can limit the
rate at which zios are dispatched which limits performance.

This upstream change from Illumos uses new interface to the
taskqs which allow them to utilize a prealloc'ed taskq_ent_t.
This removes the need to perform an allocation at dispatch
time while holding the contended lock.  This has the effect
of improving system performance.

Reviewed by: Albert Lee <trisk@nexenta.com>
Reviewed by: Richard Lowe <richlowe@richlowe.net>
Reviewed by: Alexey Zaytsev <alexey.zaytsev@nexenta.com>
Reviewed by: Jason Brian King <jason.brian.king@gmail.com>
Reviewed by: George Wilson <gwilson@zfsmail.com>
Reviewed by: Adam Leventhal <ahl@delphix.com>
Approved by: Gordon Ross <gwr@nexenta.com>

References to Illumos issue:
  https://www.illumos.org/issues/734

Ported-by: Prakash Surya <surya1@llnl.gov>
Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>
Closes #482