Major improvements to the aac(4) device driver.

- decouple the command structures from scsi structures, allowing non block
oriented commands (e.g. management commands) to be built.
- redesign the various command queues to remove race conditions and to allow
commands from multiple sources to coexist in the system
- move major processing of commands and messages to a dedicated kernel
thread to avoid spending too long in the interrupt handler
- add device data structures for various management commands to the header
file

Much code from FreeBSD

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