Parallelize vdev_load

metaslab_init is the slowest part of importing a mature pool, and it
must be repeated hundreds of times for each top-level vdev.  But its
speed is dominated by a few serialized disk accesses.  That can lead to
import times of > 1 hour for pools with many top-level vdevs on spinny
disks.

Speed up the import by using a taskqueue to parallelize vdev_load across
all top-level vdevs.

This also requires adding mutex protection to
metaslab_class_t.mc_historgram.  The mc_histogram fields were
unprotected when that code was first written in "Illumos 4976-4984 -
metaslab improvements" (OpenZFS
f3a7f6610f).  The lock wasn't added until
3dfb57a35e, though it's unclear exactly
which fields it's supposed to protect.  In any case, it wasn't until
vdev_load was parallelized that any code attempted concurrent access to
those fields.

Sponsored by: Axcient
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Alan Somers <asomers@gmail.com>
Closes #11470

include/sys/vdev_impl.h

@@ -269,6 +269,7 @@ struct vdev {
 	boolean_t	vdev_expanding;	/* expand the vdev?		*/
 	boolean_t	vdev_reopening;	/* reopen in progress?		*/
 	boolean_t	vdev_nonrot;	/* true if solid state		*/
+	int		vdev_load_error; /* error on last load		*/
 	int		vdev_open_error; /* error on last open		*/
 	kthread_t	*vdev_open_thread; /* thread opening children	*/
 	uint64_t	vdev_crtxg;	/* txg when top-level was added */