blk-mq-sched: move actual dispatching into one helper

So that it becomes easy to support to dispatch from sw queue in the
following patch.

No functional change.

Reviewed-by: Bart Van Assche <bart.vanassche@wdc.com>
Reviewed-by: Omar Sandoval <osandov@fb.com>
Suggested-by: Christoph Hellwig <hch@lst.de> # for simplifying dispatch logic
Signed-off-by: Ming Lei <ming.lei@redhat.com>
Signed-off-by: Jens Axboe <axboe@kernel.dk>