Added auto-replace FMA test for the ZFS Test Suite

Also included are updates to auto-online test

Automated auto-replace test to go along with ZED FMA integration
(PR 4673) auto-replace_001.pos works using a scsi_debug device
(the only usable virtual device currently due to whole_disk var
needing to be set)

Functionality for automated FMA auto-replace test to work with
scsi_debug devs:  Some functionality/exceptions needed to be
added for automation of auto-replace to work correctly.

In the test an alias vdev_id rule is added for any scsi_debug
device which sets the phys_path="scsidebug" after a udevadm
trigger command.

A symlink is created for the vdev_id.conf file (in /etc/zfs/ by
default) to be used in-tree for the test suite
(/var/tmp/zfs/vdev_id.conf).  "./scripts/zfs-helpers.sh -i" needs
to be run before fault tests in the ZTS (to use udev rules in-tree)

Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Reviewed-by: Don Brady <don.brady@intel.com>
Reviewed-by: David Quigley <david.quigley@intel.com>
Signed-off-by: Sydney Vanda <sydney.m.vanda@intel.com>
Closes #5944

tests/runfiles/linux.run

@@ -412,7 +412,7 @@ tests = ['devices_003_pos']
 tests = ['exec_001_pos']
 
 [tests/functional/fault]
-tests = ['auto_online_001_pos']
+tests = ['auto_online_001_pos', 'auto_replace_001_pos']
 
 [tests/functional/features/async_destroy]
 tests = ['async_destroy_001_pos']