Make vdev_id POSIX sh compatible

Full bash may not be available in all environments where udev helpers
run, such as in an initial ramdisk.  To avoid breakage in this case,
remove use of bash-specific features such as variable arrays and the
`declare' keyword from the vdev_id script.

Signed-off-by: Ned Bass <bass6@llnl.gov>
Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>
Closes #870