Add a few KASSERTs to config_attach() for sanity to make sure we don't

try to reuse device unit numbers and to check that the device pointer
array is allocated and large enough.

Also, improve the panic message generated by config_detach() when we
detect that we're detaching a device that still has children.

Discussed with deraadt@ while trying to brainstorm ways that
interleaving config_attach and config_detach could blow up.

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