kthread: implement kthread_worker

Implement simple work processor for kthread.  This is to ease using
kthread.  Single thread workqueue used to be used for things like this
but workqueue won't guarantee fixed kthread association anymore to
enable worker sharing.

This can be used in cases where specific kthread association is
necessary, for example, when it should have RT priority or be assigned
to certain cgroup.

Signed-off-by: Tejun Heo <tj@kernel.org>
Cc: Andrew Morton <akpm@linux-foundation.org>