Improve zvol symlink handling.

Change the zvol helper program to replace any embedded spaces
in the pool or dataset names with '+' to ensure we have valid
symlinks.

The '+' character was choosen because it is not a valid character
for a dataset name but it is allowed by udev.  This ensures that
all dataset names with an embedded space will be translated to
a unique /dev/zvol/ symlink.

Signed-off-by: Dan Swartzendruber <dswartz@druber.com>
Signed-off-by: Darik Horn <dajhorn@vanadac.com>
Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>
Closes #2834