make futex operations use private-futex mode when possible

private-futex uses the virtual address of the futex int directly as
the hash key rather than requiring the kernel to resolve the address
to an underlying backing for the mapping in which it lies. for certain
usage patterns it improves performance significantly.

in many places, the code using futex __wake and __wait operations was
already passing a correct fixed zero or nonzero flag for the priv
argument, so no change was needed at the site of the call, only in the
__wake and __wait functions themselves. in other places, especially
where the process-shared attribute for a synchronization object was
not previously tracked, additional new code is needed. for mutexes,
the only place to store the flag is in the type field, so additional
bit masking logic is needed for accessing the type.

for non-process-shared condition variable broadcasts, the futex
requeue operation is unable to requeue from a private futex to a
process-shared one in the mutex structure, so requeue is simply
disabled in this case by waking all waiters.

for robust mutexes, the kernel always performs a non-private wake when
the owner dies. in order not to introduce a behavioral regression in
non-process-shared robust mutexes (when the owning thread dies), they
are simply forced to be treated as process-shared for now, giving
correct behavior at the expense of performance. this can be fixed by
adding explicit code to pthread_exit to do the right thing for
non-shared robust mutexes in userspace rather than relying on the
kernel to do it, and will be fixed in this way later.

since not all supported kernels have private futex support, the new
code detects EINVAL from the futex syscall and falls back to making
the call without the private flag. no attempt to cache the result is
made; caching it and using the cached value efficiently is somewhat
difficult, and not worth the complexity when the benefits would be
seen only on ancient kernels which have numerous other limitations and
bugs anyway.

fix failure-to-wake in rwlock unlock

a reader unlocking the lock need only wake one waiter (necessarily a
writer, but a writer unlocking the lock must wake all waiters
(necessarily readers). if it only wakes one, the remainder can remain
blocked indefinitely, or at least until the first reader unlocks (in
which case the whole lock becomes serialized and behaves as a mutex
rather than a read lock).

overhaul rwlocks to address several issues

like mutexes and semaphores, rwlocks suffered from a race condition
where the unlock operation could access the lock memory after another
thread successfully obtained the lock (and possibly destroyed or
unmapped the object). this has been fixed in the same way it was fixed
for other lock types.

in addition, the previous implementation favored writers over readers.
in the absence of other considerations, that is the best behavior for
rwlocks, and posix explicitly allows it. however posix also requires
read locks to be recursive. if writers are favored, any attempt to
obtain a read lock while a writer is waiting for the lock will fail,
causing "recursive" read locks to deadlock. this can be avoided by
keeping track of which threads already hold read locks, but doing so
requires unbounded memory usage, and there must be a fallback case
that favors readers in case memory allocation failed. and all of this
must be synchronized. the cost, complexity, and risk of errors in
getting it right is too great, so we simply favor readers.

tracking of the owner of write locks has been removed, as it was not
useful for anything. it could allow deadlock detection, but it's not
clear to me that returning EDEADLK (which a buggy program is likely to
ignore) is better than deadlocking; at least the latter behavior
prevents further data corruption. a correct program cannot invoke this
situation anyway.

the reader count and write lock state, as well as the "last minute"
waiter flag have all been combined into a single atomic lock. this
means all state transitions for the lock are atomic compare-and-swap
operations. this makes establishing correctness much easier and may
improve performance.

finally, some code duplication has been cleaned up. more is called
for, especially the standard __timedwait idiom repeated in all locks.

reorganize pthread data structures and move the definitions to alltypes.h

this allows sys/types.h to provide the pthread types, as required by
POSIX. this design also facilitates forcing ABI-compatible sizes in
the arch-specific alltypes.h, while eliminating the need for
developers changing the internals of the pthread types to poke around
with arch-specific headers they may not be able to test.

initial check-in, version 0.5.0