MFp4: portability work, general cleanup, locking fixes

change 38496
o add ipsec_osdep.h that holds os-specific definitions for portability
o s/KASSERT/IPSEC_ASSERT/ for portability
o s/SPLASSERT/IPSEC_SPLASSERT/ for portability
o remove function names from ASSERT strings since line#+file pinpints
  the location
o use __func__ uniformly to reduce string storage
o convert some random #ifdef DIAGNOSTIC code to assertions
o remove some debuggging assertions no longer needed

change 38498
o replace numerous bogus panic's with equally bogus assertions
  that at least go away on a production system

change 38502 + 38530
o change explicit mtx operations to #defines to simplify
  future changes to a different lock type

change 38531
o hookup ipv4 ctlinput paths to a noop routine; we should be
  handling path mtu changes at least
o correct potential null pointer deref in ipsec4_common_input_cb

chnage 38685
o fix locking for bundled SA's and for when key exchange is required

change 38770
o eliminate recursion on the SAHTREE lock

change 38804
o cleanup some types: long -> time_t
o remove refrence to dead #define

change 38805
o correct some types: long -> time_t
o add scan generation # to secpolicy to deal with locking issues

change 38806
o use LIST_FOREACH_SAFE instead of handrolled code
o change key_flush_spd to drop the sptree lock before purging
  an entry to avoid lock recursion and to avoid holding the lock
  over a long-running operation
o misc cleanups of tangled and twisty code

There is still much to do here but for now things look to be
working again.

Supported by:	FreeBSD Foundation

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