[SCSI] libsas: export sas_alloc_task()

Now that isci has added a 3rd open coded user of this functionality just
share the libsas version.

Acked-by: Jack Wang <jack_wang@usish.com>
Signed-off-by: Dan Williams <dan.j.williams@intel.com>
Signed-off-by: James Bottomley <JBottomley@Parallels.com>