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

src/backend/utils/misc/guc_tables.c

@@ -75,6 +75,7 @@
 #include "storage/aio.h"
 #include "storage/bufmgr.h"
 #include "storage/bufpage.h"
+#include "storage/io_worker.h"
 #include "storage/large_object.h"
 #include "storage/pg_shmem.h"
 #include "storage/predicate.h"
@@ -3267,6 +3268,18 @@ struct config_int ConfigureNamesInt[] =
 		check_io_max_concurrency, NULL, NULL
 	},
 
+	{
+		{"io_workers",
+			PGC_SIGHUP,
+			RESOURCES_IO,
+			gettext_noop("Number of IO worker processes, for io_method=worker."),
+			NULL,
+		},
+		&io_workers,
+		3, 1, MAX_IO_WORKERS,
+		NULL, NULL, NULL
+	},
+
 	{
 		{"backend_flush_after", PGC_USERSET, RESOURCES_IO,
 			gettext_noop("Number of pages after which previously performed writes are flushed to disk."),