scsi: reintroduce scsi_driver.init_command

Instead of letting the ULD play games with the prep_fn move back to
the model of a central prep_fn with a callback to the ULD.  This
already cleans up and shortens the code by itself, and will be required
to properly support blk-mq in the SCSI midlayer.

Signed-off-by: Christoph Hellwig <hch@lst.de>
Reviewed-by: Nicholas Bellinger <nab@linux-iscsi.org>
Reviewed-by: Mike Christie <michaelc@cs.wisc.edu>
Reviewed-by: Hannes Reinecke <hare@suse.de>