Improve handling of filesystem versions

Change mount code to diagnose filesystem versions that
are not supported by the current implementation.

Change upgrade code to do likewise and refuse to upgrade
a pool if any filesystems on it are a version which is
not supported by the current implementation.

Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Dan Swartzendruber <dswartz@druber.com>
Closes: #2616