Parallel pool import

This commit allow spa_load() to drop the spa_namespace_lock so
that imports can happen concurrently. Prior to dropping the
spa_namespace_lock, the import logic will set the spa_load_thread
value to track the thread which is doing the import.

Consumers of spa_lookup() retain the same behavior by blocking
when either a thread is holding the spa_namespace_lock or the
spa_load_thread value is set. This will ensure that critical
concurrent operations cannot take place while a pool is being
imported.

The zpool command is also enhanced to provide multi-threaded support
when invoking zpool import -a.

Lastly, zinject provides a mechanism to insert artificial delays
when importing a pool and new zfs tests are added to verify parallel
import functionality.

Contributions-by: Don Brady <don.brady@klarasystems.com>
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: George Wilson <gwilson@delphix.com>
Closes #16093

include/sys/spa_impl.h

@@ -20,7 +20,7 @@
  */
 /*
  * Copyright (c) 2005, 2010, Oracle and/or its affiliates. All rights reserved.
- * Copyright (c) 2011, 2019 by Delphix. All rights reserved.
+ * Copyright (c) 2011, 2024 by Delphix. All rights reserved.
  * Copyright 2011 Nexenta Systems, Inc.  All rights reserved.
  * Copyright (c) 2014 Spectra Logic Corporation, All rights reserved.
  * Copyright 2013 Saso Kiselkov. All rights reserved.
@@ -237,6 +237,7 @@ struct spa {
 	dsl_pool_t	*spa_dsl_pool;
 	boolean_t	spa_is_initializing;	/* true while opening pool */
 	boolean_t	spa_is_exporting;	/* true while exporting pool */
+	kthread_t	*spa_load_thread;	/* loading, no namespace lock */
 	metaslab_class_t *spa_normal_class;	/* normal data class */
 	metaslab_class_t *spa_log_class;	/* intent log data class */
 	metaslab_class_t *spa_embedded_log_class; /* log on normal vdevs */