Add a new taskqueue setup method that takes a cpuid to pin the

taskqueue worker thread(s) to.

For now it isn't a taskqueue/taskthread error to fail to pin
to the given cpuid.

Thanks to rpaulo@, kib@ and jhb@ for feedback.

Tested:

* igb(4), with local RSS patches to pin taskqueues.

TODO:

* ask the doc team for help in documenting the new API call.
* add a taskqueue_start_threads_cpuset() method which takes
  a cpuset_t - but this may require a bunch of surgery to
  bring cpuset_t into scope.

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