io: rewrite slab to support compaction (#2757)

The I/O driver uses a slab to store per-resource state. Doing this
provides two benefits. First, allocating state is streamlined. Second,
resources may be safely indexed using a `usize` type. The `usize` is
used passed to the OS's selector when registering for receiving events.

The original slab implementation used a `Vec` backed by `RwLock`. This
primarily caused contention when reading state. This implementation also
only **grew** the slab capacity but never shrank. In #1625, the slab was
rewritten to use a lock-free strategy. The lock contention was removed
but this implementation was still grow-only.

This change adds the ability to release memory. Similar to the previous
implementation, it structures the slab to use a vector of pages. This
enables growing the slab without having to move any previous entries. It
also adds the ability to release pages. This is done by introducing a
lock when allocating/releasing slab entries. This does not impact
benchmarks, primarily due to the existing implementation not being
"done" and also having a lock around allocating and releasing.

A `Slab::compact()` function is added. Pages are iterated. When a page
is found with no slots in use, the page is freed. The `compact()`
function is called occasionally by the I/O driver.

Fixes #2505

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