Permit passing the panic format string and arguments as additional
arguments to KASSERT itself. This is easier to read and can be less
confusing for style checkers, etc.
Note that to preserve API compatability for now, if only two arguments
are passed to the KASSERT, the second argument must still use nested
parantheses. Eventually we should remove this compatability.
While here, take advantage of the wrapper macro that provides API
compatability to add a single argument form (KASSERT(expression))
which auto-generates a message identical to MPASS. This does mean
that the wrapper macro (_KASSERT_MACRO) will need to stay even after
removing the API compatability for the nested parantheses in the
future.