md: refactor idle/frozen_sync_thread() to fix deadlock

Our test found a following deadlock in raid10:

1) Issue a normal write, and such write failed:

  raid10_end_write_request
   set_bit(R10BIO_WriteError, &r10_bio->state)
   one_write_done
    reschedule_retry

  // later from md thread
  raid10d
   handle_write_completed
    list_add(&r10_bio->retry_list, &conf->bio_end_io_list)

  // later from md thread
  raid10d
   if (!test_bit(MD_SB_CHANGE_PENDING, &mddev->sb_flags))
    list_move(conf->bio_end_io_list.prev, &tmp)
    r10_bio = list_first_entry(&tmp, struct r10bio, retry_list)
    raid_end_bio_io(r10_bio)

Dependency chain 1: normal io is waiting for updating superblock

2) Trigger a recovery:

  raid10_sync_request
   raise_barrier

Dependency chain 2: sync thread is waiting for normal io

3) echo idle/frozen to sync_action:

  action_store
   mddev_lock
    md_unregister_thread
     kthread_stop

Dependency chain 3: drop 'reconfig_mutex' is waiting for sync thread

4) md thread can't update superblock:

  raid10d
   md_check_recovery
    if (mddev_trylock(mddev))
     md_update_sb

Dependency chain 4: update superblock is waiting for 'reconfig_mutex'

Hence cyclic dependency exist, in order to fix the problem, we must
break one of them. Dependency 1 and 2 can't be broken because they are
foundation design. Dependency 4 may be possible if it can be guaranteed
that no io can be inflight, however, this requires a new mechanism which
seems complex. Dependency 3 is a good choice, because idle/frozen only
requires sync thread to finish, which can be done asynchronously that is
already implemented, and 'reconfig_mutex' is not needed anymore.

This patch switch 'idle' and 'frozen' to wait sync thread to be done
asynchronously, and this patch also add a sequence counter to record how
many times sync thread is done, so that 'idle' won't keep waiting on new
started sync thread.

Noted that raid456 has similiar deadlock([1]), and it's verified[2] this
deadlock can be fixed by this patch as well.

[1] https://lore.kernel.org/linux-raid/5ed54ffc-ce82-bf66-4eff-390cb23bc1ac@molgen.mpg.de/T/#t
[2] https://lore.kernel.org/linux-raid/e9067438-d713-f5f3-0d3d-9e6b0e9efa0e@huaweicloud.com/



Signed-off-by: Yu Kuai <yukuai3@huawei.com>
Signed-off-by: Song Liu <song@kernel.org>
Link: https://lore.kernel.org/r/20230529132037.2124527-5-yukuai1@huaweicloud.com