Fix autoconf variable substitution in udev rules.

Fix autoconf variable substitution in udev rules.

Change the variable substitution in the udev rule templates
according to the method described in the Autoconf manual;
Chapter 4.7.2: Installation Directory Variables.

The udev rules are improperly generated if the bindir parameter
overrides the prefix parameter during configure. For example:

  # ./configure --prefix=/usr/local --bindir=/opt/zfs/bin

The udev helper is installed as /opt/zfs/bin/zpool_id, but the
corresponding udev rule has a different path:

  # /usr/local/etc/udev/rules.d/60-zpool.rules
  ENV{DEVTYPE}=="disk", IMPORT{program}="/usr/local/bin/zpool_id -d %p"

The @bindir@ variable expands to "${exec_prefix}/bin", so it cannot
be used instead of @prefix@ directly.

This also applies to the zvol_id helper.

Closes #283.