aio: Infrastructure for io_method=worker

This commit contains the basic, system-wide, infrastructure for
io_method=worker. It does not yet actually execute IO, this commit just
provides the infrastructure for running IO workers, kept separate for easier
review.

The number of IO workers can be adjusted with a PGC_SIGHUP GUC. Eventually
we'd like to make the number of workers dynamically scale up/down based on the
current "IO load".

To allow the number of IO workers to be increased without a restart, we need
to reserve PGPROC entries for the workers unconditionally. This has been
judged to be worth the cost. If it turns out to be problematic, we can
introduce a PGC_POSTMASTER GUC to control the maximum number.

As io workers might be needed during shutdown, e.g. for AIO during the
shutdown checkpoint, a new PMState phase is added. IO workers are shut down
after the shutdown checkpoint has been performed and walsender/archiver have
shut down, but before the checkpointer itself shuts down. See also
87a6690cc6.

Updates PGSTAT_FILE_FORMAT_ID due to the addition of a new BackendType.

Reviewed-by: Noah Misch <noah@leadboat.com>
Co-authored-by: Thomas Munro <thomas.munro@gmail.com>
Co-authored-by: Andres Freund <andres@anarazel.de>
Discussion: https://postgr.es/m/uvrtrknj4kdytuboidbhwclo4gxhswwcpgadptsjvjqcluzmah%40brqs62irg4dt
Discussion: https://postgr.es/m/20210223100344.llw5an2aklengrmn@alap3.anarazel.de
Discussion: https://postgr.es/m/stj36ea6yyhoxtqkhpieia2z4krnam7qyetc57rfezgk4zgapf@gcnactj4z56m

doc/src/sgml/config.sgml

@@ -2689,6 +2689,25 @@ include_dir 'conf.d'
        </listitem>
       </varlistentry>
 
+      <varlistentry id="guc-io-workers" xreflabel="io_workers">
+       <term><varname>io_workers</varname> (<type>int</type>)
+       <indexterm>
+        <primary><varname>io_workers</varname> configuration parameter</primary>
+       </indexterm>
+       </term>
+       <listitem>
+        <para>
+         Selects the number of I/O worker processes to use. The default is
+         3. This parameter can only be set in the
+         <filename>postgresql.conf</filename> file or on the server command
+         line.
+        </para>
+        <para>
+         Only has an effect if <xref linkend="guc-io-method"/> is set to
+         <literal>worker</literal>.
+        </para>
+       </listitem>
+      </varlistentry>
      </variablelist>
     </sect2>