pf: Initialize pf_kpool mutexes earlier

[markj]

Summary

There are some error paths in ioctl handlers that will call
pf_krule_free() before the rule's rpool.mtx field is initialized,
causing a panic with INVARIANTS enabled.

Fix the problem by introducing pf_krule_alloc() and initializing the
mutex there. This does mean that the rule->krule and pool->kpool
conversion functions need to stop zeroing the input structure, but I
don't see a nicer way to handle this except perhaps by guarding the
mtx_destroy() with a mtx_initialized() check.

Constify some related functions while here and add a regression test
based on a syzkaller reproducer.

Reported by: [e-mail]

[kp]

I like tests.