Avoid having autovacuum workers wait for relation locks.

Waiting for relation locks can lead to starvation - it pins down an
autovacuum worker for as long as the lock is held.  But if we're doing
an anti-wraparound vacuum, then we still wait; maintenance can no longer
be put off.

To assist with troubleshooting, if log_autovacuum_min_duration >= 0,
we log whenever an autovacuum or autoanalyze is skipped for this reason.

Per a gripe by Josh Berkus, and ensuing discussion.