Add clock_nanosleep()

Add a clock_nanosleep() syscall, as specified by POSIX.
Make nanosleep() a wrapper around it.

Attach the clock_nanosleep test from NetBSD. Adjust it for the
FreeBSD behavior of updating rmtp only when interrupted by a signal.
I believe this to be POSIX-compliant, since POSIX mentions the rmtp
parameter only in the paragraph about EINTR. This is also what
Linux does. (NetBSD updates rmtp unconditionally.)

Copy the whole nanosleep.2 man page from NetBSD because it is complete
and closely resembles the POSIX description. Edit, polish, and reword it
a bit, being sure to keep any relevant text from the FreeBSD page.

Regenerate syscall files.

Relnotes:	yes
Sponsored by:	Dell EMC

The fdatasync(2) call must be cancellation point.

do not participate in the global symbols namespace, but rtld locks are
still replaced and functions are interposed.  In particular,
__pthread_map_stacks_exec is resolved to the libc version.  If a
library is loaded later, which requires adjustment of the stack
protection mode, rtld calls into libc __pthread_map_stacks_exec due to
the symbols scope.  The libc version might recurse into binder and
recursively acquire rtld bind lock, causing the hang.

Make libc __pthread_map_stacks_exec() interposed, which synchronizes
rtld locks and version of the stack exec hook when libthr loaded,
regardless of the symbol scope control or symbol resolution order.

The __pthread_map_stacks_exec() symbol is removed from the private
version in libthr since libc symbol now operates correctly in presence
of libthr.

Reported and tested by:	markj
Sponsored by:	The FreeBSD Foundation
MFC after:	2 weeks

pwrite(2) syscalls are wrapped to provide compatibility with pre-7.x
kernels which required padding before the off_t parameter.  The
fcntl(2) contains compatibility code to handle kernels before the
struct flock was changed during the 8.x CURRENT development.  The
shims were reasonable to allow easier revert to the older kernel at
that time.

Now, two or three major releases later, shims do not serve any
purpose.  Such old kernels cannot handle current libc, so revert the
compatibility code.

Make padded syscalls support conditional under the COMPAT6 config
option.  For COMPAT32, the syscalls were under COMPAT6 already.

Remove WITHOUT_SYSCALL_COMPAT build option, which only purpose was to
(partially) disable the removed shims.

Reviewed by:	jhb, imp (previous versions)
Discussed with:	peter
Sponsored by:	The FreeBSD Foundation
MFC after:	1 week

waitid() function is required to be cancellable by the standard.  The
wait6() and ppoll() follow the other syscalls in their groups.

Reviewed by:	jhb, jilles (previous versions)
Sponsored by:	The FreeBSD Foundation
MFC after:	1 week

Note that to cancel blocked kevent(2) call, changelist must be empty,
since we cannot cancel a call which already made changes to the
process state.  And in reverse, call which only makes changes to the
kqueue state, without waiting for an event, is not cancellable.  This
makes a natural usage model to migrate kqueue loop to support
cancellation, where existing single kevent(2) call must be split into
two: first uncancellable update of kqueue, then cancellable wait for
events.

Note that this is ABI-incompatible change, but it is believed that
there is no cancel-safe code that relies on kevent(2) not being a
cancellation point.  Option to preserve the ABI would be to keep
kevent(2) as is, but add new call with flags to specify cancellation
behaviour, which only value seems to add complications.

Suggested and reviewed by:	jilles
Sponsored by:	The FreeBSD Foundation
MFC after:	2 weeks

particular, stdio locking was affected.

Reported and tested by:	"Matthew D. Fuller" <fullermd@over-yonder.net>
Sponsored by:	The FreeBSD Foundation
MFC after:	3 days

cancellation-handling code in the libthr.  Translate some syscalls
into their more generic counterpart, and remove translated syscalls
from the table.

List of the affected syscalls:
creat, open -> openat
raise -> thr_kill
sleep, usleep -> nanosleep
pause -> sigsuspend
wait, wait3, waitpid -> wait4

Suggested and reviewed by:	jilles (previous version)
Sponsored by:	The FreeBSD Foundation
MFC after:	1 week

(or loading a dso linked to libthr.so into process which was not
linked against threading library).

- Remove libthr interposers of the libc functions, including
  __error(). Instead, functions calls are indirected through the
  interposing table, similar to how pthread stubs in libc are already
  done.  Libc by default points either to syscall trampolines or to
  existing libc implementations.  On libthr load, libthr rewrites the
  pointers to the cancellable implementations already in libthr.  The
  interposition table is separate from pthreads stubs indirection
  table to not pull pthreads stubs into static binaries.

- Postpone the malloc(3) internal mutexes initialization until libthr
  is loaded.  This avoids recursion between calloc(3) and static
  pthread_mutex_t initialization.

- Reinstall signal handlers with wrapper on libthr load.  The
  _rtld_is_dlopened(3) is used to avoid useless calls to sigaction(2)
  when libthr is statically referenced from the main binary.

In the process, fix openat(2), swapcontext(2) and setcontext(2)
interposing.  The libc symbols were exported at different versions
than libthr interposers.  Export both libc and libthr versions from
libc now, with default set to the higher version from libthr.

Remove unused and disconnected swapcontext(3) userspace implementation
from libc/gen.

No objections from:	deischen
Tested by:	pho, antoine (exp-run) (previous versions)
Sponsored by:	The FreeBSD Foundation
MFC after:	1 week