dmu_objset_from_ds must be called with dp_config_rwlock held

The normal lock order is that the dp_config_rwlock must be held before
the ds_opening_lock. For example, dmu_objset_hold() does this.
However, dmu_objset_open_impl() is called with the ds_opening_lock held,
and if the dp_config_rwlock is not already held, it will attempt to
acquire it. This may lead to deadlock, since the lock order is
reversed.

Looking at all the callers of dmu_objset_open_impl() (which is
principally the callers of dmu_objset_from_ds()), almost all callers
already have the dp_config_rwlock. However, there are a few places in
the send and receive code paths that do not. For example:
dsl_crypto_populate_key_nvlist, send_cb, dmu_recv_stream,
receive_write_byref, redact_traverse_thread.

This commit resolves the problem by requiring all callers ot
dmu_objset_from_ds() to hold the dp_config_rwlock. In most cases, the
code has been restructured such that we call dmu_objset_from_ds()
earlier on in the send and receive processes, when we already have the
dp_config_rwlock, and save the objset_t until we need it in the middle
of the send or receive (similar to what we already do with the
dsl_dataset_t). Thus we do not need to acquire the dp_config_rwlock in
many new places.

I also cleaned up code in dmu_redact_snap() and send_traverse_thread().

Reviewed-by: Paul Dagnelie <pcd@delphix.com>
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Reviewed-by: Paul Zuchowski <pzuchowski@datto.com>
Signed-off-by: Matthew Ahrens <mahrens@delphix.com>
Closes #9662
Closes #10115