Retire HAVE_IOCTL_* configure checks

The HAVE_IOCTL_* configure checks were originally added for
compatibility with an ancient version of glibc.  This support
and additional complexity is no longer needed and is therefore
being removed.

Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Turbo Fredriksson <turbo@bayour.com>
Closes #585
Add a pkgconfig file

Providing a pkg-config file makes is easy for 3rd party applications
to link against the libzfs libraries.  It also allows the libzfs
developers to modify the list of required libraries and cflags
without breaking existing applications.

The following example illustrates how pkg-config can be used:

cc `pkg-config --cflags --libs libzfs` -o myapp myapp.c

/*
 * myapp.c
 */
void main()
{
	libzfs_handle_t *hdl;

	hdl = libzfs_init();
	if (hdl)
		libzfs_fini(hdl);
}

Signed-off-by: Turbo Fredriksson <turbo@bayour.com>
Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>
Closes: #585