block, bfq: add full hierarchical scheduling and cgroups support

Add complete support for full hierarchical scheduling, with a cgroups
interface. Full hierarchical scheduling is implemented through the
'entity' abstraction: both bfq_queues, i.e., the internal BFQ queues
associated with processes, and groups are represented in general by
entities. Given the bfq_queues associated with the processes belonging
to a given group, the entities representing these queues are sons of
the entity representing the group. At higher levels, if a group, say
G, contains other groups, then the entity representing G is the parent
entity of the entities representing the groups in G.

Hierarchical scheduling is performed as follows: if the timestamps of
a leaf entity (i.e., of a bfq_queue) change, and such a change lets
the entity become the next-to-serve entity for its parent entity, then
the timestamps of the parent entity are recomputed as a function of
the budget of its new next-to-serve leaf entity. If the parent entity
...