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Avoid issuing spa config updates for physical path when not necessary

Description

Avoid issuing spa config updates for physical path when not necessary

ZFS's configuration needs to be updated whenever the physical path for a
device changes, but not when a new device is introduced. This is because new
devices necessarily cause config updates, but only if they are actually
accepted into the pool.

sys/cddl/contrib/opensolaris/uts/common/fs/zfs/vdev_geom.c
Split vdev_geom_set_physpath out of vdev_geom_attrchanged. When
setting the vdev's physical path, only request a config update if
the physical path has changed. Don't request it when opening a
device for the first time, because the config sync will happen
anyway upstack.

sys/geom/geom_dev.c
Split g_dev_set_physpath and g_dev_set_media out of
g_dev_attrchanged

Submitted by: will, asomers
MFC after: 4 weeks
Sponsored by: Spectra Logic Corp
Differential Revision: https://reviews.freebsd.org/D6428

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