block: Introduce bdrv_replace_child()

This adds a common function that is called when attaching a new child to
a parent, removing a child from a parent and when reconfiguring the
graph so that an existing child points to a different node now.

Signed-off-by: Kevin Wolf <kwolf@redhat.com>
Reviewed-by: Eric Blake <eblake@redhat.com>
Reviewed-by: Fam Zheng <famz@redhat.com>