Change the error handling for invalid property values

ZFS recv should return a useful error message when an invalid index
property value is provided in the send stream properties nvlist

With a compression= property outside of the understood range:

Before:
```
receiving full stream of zof/zstd_send@send2 into testpool/recv@send2
internal error: Invalid argument
Aborted (core dumped)
```
Note: the recv completes successfully, the abort() is likely just to
make it easier to track the unexpected error code.

After:
```
receiving full stream of zof/zstd_send@send2 into testpool/recv@send2
cannot receive compression property on testpool/recv: invalid property
value received 28.9M stream in 1 seconds (28.9M/sec)
```

Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Allan Jude <allan@klarasystems.com>
Closes #10631

include/sys/fs/zfs.h

@@ -1366,6 +1366,7 @@ typedef enum {
 	ZFS_ERR_STREAM_LARGE_BLOCK_MISMATCH,
 	ZFS_ERR_RESILVER_IN_PROGRESS,
 	ZFS_ERR_REBUILD_IN_PROGRESS,
+	ZFS_ERR_BADPROP,
 } zfs_errno_t;
 
 /*