vmd(8): introduce multi-process model for virtio devices.

Isolate virtio network and block device emulation in dedicated
processes, forked and exec'd from the vm process. This allows for
tightening pledge promises to just "stdio".

Communication between the vcpu's and these devices now occurs via
imsg channels, which adds the benefit of not always blocking the
vcpu thread while emulating the device.

With this commit, it's possible that vmd is the first open source
hypervisor that *defaults* to a multi-process device emulation
model without requiring any additional configuration from the
operator.

Testing help from phessler@ and Mischa Peters.

ok mlarkin@

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