Teach zpool scrub to scrub only blocks in error log

Added a flag '-e' in zpool scrub to scrub only blocks in error log. A
user can pause, resume and cancel the error scrub by passing additional
command line arguments -p -s just like a regular scrub. This involves
adding a new flag, creating new libzfs interfaces, a new ioctl, and the
actual iteration and read-issuing logic. Error scrubbing is executed in
multiple txg to make sure pool performance is not affected.

Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Reviewed-by: Tony Hutter <hutter2@llnl.gov>
Co-authored-by: TulsiJain tulsi.jain@delphix.com
Signed-off-by: George Amanakis <gamanakis@gmail.com>
Closes #8995
Closes #12355