Make ensemble manager only save state if changed

This commit optimizes the ensemble manager to only save its state if
the existing saved state does not already match the new state. This
optimization is already used by ensemble peers and has shown to
significantly reduce disk write traffic.
Implement central storage manager

This commit adds a central storage manager to riak_ensemble. Previously,
individual ensembles as well as the ensemble manager would independently
save their own state to disk. However, such an approach scaled poorly as
the number of independent ensembles increased. It was not uncommon to
see thousands of synchronous writes/s issued to disk, overwhelming the
I/O subsystem. To solve this issue, the storage manager was created.

Rather than storing data independently, the storage manager combines the
state from multiple ensembles as well as the ensemble manager into a
single entity that is stored together in a single file. Since this file
is now a critical single point of failure, the storage manager uses newly
added logic, implemented in the riak_ensemble_save module, to save four
redundant copies of the data to disk.

The manager is also responsible for coalescing multiple writes together
to reduce disk traffic. Individual writes are staged in an ETS table and
then flushed to disk after a delay (eg. 50ms).

The storage manager supports both synchronous and asynchronous writes.
Ensemble peers use synchronous writes, while the ensemble manager uses
asynchronous writes (since the manager reflects state that can easily
be recovered from other managers / the root leader).
Add backpressure to periodic messages

By design, ensemble leaders periodically send messages to both the root
leader as well the local ensemble manager. However, when there are many
independent ensembles, these periodic messages can easily overwhelm the
target process leading to ever growing message queues.

This commit address this problem. First, ensemble leaders no longer send
periodic messages to the root leader. This prevents the root leader from
being overwhelmed. Instead, ensemble peers directly send update_ensemble
messages to their local ensemble manager. This change has been deemed
correct, as the root leader was simply used for serialization and
further consideration shows this serialization is unnecessary.

Second, to avoid overwhelming the ensemble manager, backpressure has
been added to the messages (update_ensemble, gossip) sent to the
manager. This backpressure has been added by changing the appropriate
messages from casts to calls. Likewise, to avoid blocking the sending
process, the sender now spawns a singleton helper process that blocks on
the relevant calls. This design provides non-blocking messaging while
still providing backpressure.
Prevent peer initialization from blocking peer sup

Prior to this commit, riak_ensemble_peer:init could block while reading
the saved fact from disk. This would result in the peer supervisor
blocking when starting a new peer. Since other components are designed
assuming the peer supervisor is always quick to respond, this blocking
could cascade causing other process to block as well, resulting in large
message queues.

This commit changes riak_ensemble_peer so that only minor initialization
is done in init, with the remaining work handled in a newly added setup
state.
Optimize ensemble manager orddict:from_list usage

The use of orddict:from_list by the ensemble manager becomes a
bottleneck when there are a large number of ensembles. This commit
addresses this by instead using lists:ukeysort which is equivalent in
this scenario yet considerably faster.

From a simple microbenchmark:
  length   orddict:from_list   lists:ukeysort
   100      139                 34
   1000     11973               463
   10000    1241925             6514
Increase ensemble tick from 200ms to 500ms

This commit slightly increases the ensemble tick rate in order to
decrease the commit frequency and reduce load when using a large
number of ensembles.
Add rebar and fix how $(REBAR) is set in Makefile

Do not search for rebar in path in Makefile
Remove commented-out code from ensemble manager
Merge pull request #21 from basho/bugfix/optimize-many-ensembles

Optimize handling of large ensemble count

Reviewed-by: andrewjstone