pthread: implement try/timed join variants

add missing memory barrier to pthread_join

POSIX requires pthread_join to synchronize memory on success. The
futex wait inside __timedwait_cp cannot handle this because it's not
called in all cases. Also, in the case of a spurious wake, tid can
become zero between the wake and when the joining thread checks it.

suppress masked cancellation in pthread_join

like close, pthread_join is a resource-deallocation function which is
also a cancellation point. the intent of masked cancellation mode is
to exempt such functions from failure with ECANCELED.

fix namespace issue in pthread_join affecting thrd_join

pthread_testcancel is not in the ISO C reserved namespace and thus
cannot be used here. use the namespace-protected version of the
function instead.

factor cancellation cleanup push/pop out of futex __timedwait function

previously, the __timedwait function was optionally a cancellation
point depending on whether it was passed a pointer to a cleaup
function and context to register. as of now, only one caller actually
used such a cleanup function (and it may face removal soon); most
callers either passed a null pointer to disable cancellation or a
dummy cleanup function.

now, __timedwait is never a cancellation point, and __timedwait_cp is
the cancellable version. this makes the intent of the calling code
more obvious and avoids ugly dummy functions and long argument lists.

use weak symbols for the POSIX functions that will be used by C threads

The intent of this is to avoid name space pollution of the C threads
implementation.

This has two sides to it. First we have to provide symbols that wouldn't
pollute the name space for the C threads implementation. Second we have
to clean up some internal uses of POSIX functions such that they don't
implicitly drag in such symbols.

make non-waiting paths of sem_[timed]wait and pthread_join cancelable

per POSIX these functions are both cancellation points, so they must
act on any cancellation request which is pending prior to the call.
previously, only the code path where actual waiting took place could
act on cancellation.

clean up sloppy nested inclusion from pthread_impl.h

this mirrors the stdio_impl.h cleanup. one header which is not
strictly needed, errno.h, is left in pthread_impl.h, because since
pthread functions return their error codes rather than using errno,
nearly every single pthread function needs the errno constants.

in a few places, rather than bringing in string.h to use memset, the
memset was replaced by direct assignment. this seems to generate much
better code anyway, and makes many functions which were previously
non-leaf functions into leaf functions (possibly eliminating a great
deal of bloat on some platforms where non-leaf functions require ugly
prologue and/or epilogue).

fix serious bug in pthread_join

on spurious wakeups/returns from __timedwait, pthread_join would
"succeed" and unmap the thread's stack while it was still running. at
best this would lead to SIGSEGV when the thread resumed execution, but
in the worst case, the thread would later resume executing on top of
another new thread's stack mapped at the same address.

spent about 4 hours tracking this bug down, chasing rare
difficult-to-reproduce stack corruption in a stress test program.
still no idea *what* caused the spurious wakeups; i suspect it's a
kernel bug.

fix pthread_join wait call: thread termination tid futex is not private

this seeme to be the bug that prevented enabling of private futex
support. i'm going to hold off on switching to private futexes until
after the next release, and until i get a chance to audit all
wait/wake calls to make sure they're using the correct private
argument, but with this change it should be safe to enable private
futex support.

unify and overhaul timed futex waits

new features:

- FUTEX_WAIT_BITSET op will be used for timed waits if available. this
saves a call to clock_gettime.

- error checking for the timespec struct is now inside __timedwait so
it doesn't need to be duplicated everywhere. cond_timedwait still
needs to duplicate it to avoid unlocking the mutex, though.

- pushing and popping the cancellation handler is delegated to
__timedwait, and cancellable/non-cancellable waits are unified.

overhaul pthread cancellation

this patch improves the correctness, simplicity, and size of
cancellation-related code. modulo any small errors, it should now be
completely conformant, safe, and resource-leak free.

the notion of entering and exiting cancellation-point context has been
completely eliminated and replaced with alternative syscall assembly
code for cancellable syscalls. the assembly is responsible for setting
up execution context information (stack pointer and address of the
syscall instruction) which the cancellation signal handler can use to
determine whether the interrupted code was in a cancellable state.

these changes eliminate race conditions in the previous generation of
cancellation handling code (whereby a cancellation request received
just prior to the syscall would not be processed, leaving the syscall
to block, potentially indefinitely), and remedy an issue where
non-cancellable syscalls made from signal handlers became cancellable
if the signal handler interrupted a cancellation point.

x86_64 asm is untested and may need a second try to get it right.

initial check-in, version 0.5.0