Implement taskqueue_start_threads_cpuset().

This is a more generic version of taskqueue_start_threads_pinned()
which only supports a single cpuid.

This originally came from John Baldwin <jhb@> who implemented it
as part of a push towards NUMA awareness in drivers.  I started implementing
something similar for RSS and NUMA, then found he already did it.

I'd like to axe taskqueue_start_threads_pinned() so it doesn't become
part of a longer-term API.  (Read: hps@ wants to MFC things, and
if I don't do this soon, he'll MFC what's here. :-)

I have a follow-up commit which converts the intel drivers over
to using the cpuset version of this function, so we can eventually
nuke the the pinned version.

Tested:

* igb, ixgbe

Obtained from:	jhbbsd

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