Add simple preempt safe epoch API

Read locking is over used in the kernel to guarantee liveness. This API makes
it easy to provide livenes guarantees without atomics.

Includes epoch_test kernel module to stress test the API.

Documentation will follow initial use case.

Test case and improvements to preemption handling in response to discussion
with mjg@

Reviewed by: imp@, shurd@
Approved by: sbruno@