enable private futex for process-local robust mutexes

the kernel always uses non-private wake when walking the robust list
when a thread or process exits, so it's not able to wake waiters
listening with the private futex flag. this problem is solved by doing
the equivalent in userspace as the last step of pthread_exit.

care is taken to remove mutexes from the robust list before unlocking
them so that the kernel will not attempt to access them again,
possibly after another thread locks them. this removal code can treat
the list as singly-linked, since no further code which would add or
remove items is able to run at this point. moreover, the pending
pointer is not needed since the mutexes being unlocked are all
process-local; in the case of asynchronous process termination, they
all cease to exist.

since a process-local robust mutex cannot come into existence without
a call to pthread_mutexattr_setrobust in the same process, the code
for userspace robust list processing is put in that source file, and
a weak alias to a dummy function is used to avoid pulling in this
bloat as part of pthread_exit in static-linked programs.

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.

make pthread attribute types structs, even when they just have one field

this change is to get the right tags for C++ ABI matching. it should
have no other effects.

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).

use restrict everywhere it's required by c99 and/or posix 2008

to deal with the fact that the public headers may be used with pre-c99
compilers, __restrict is used in place of restrict, and defined
appropriately for any supported compiler. we also avoid the form
[restrict] since older versions of gcc rejected it due to a bug in the
original c99 standard, and instead use the form *restrict.

implement robust mutexes

some of this code should be cleaned up, e.g. using macros for some of
the bit flags, masks, etc. nonetheless, the code is believed to be
working and correct at this point.

fix and optimize non-default-type mutex behavior

problem 1: mutex type from the attribute was being ignored by
pthread_mutex_init, so recursive/errorchecking mutexes were never
being used at all.

problem 2: ownership of recursive mutexes was not being enforced at
unlock time.

initial check-in, version 0.5.0