core: add waitqueue support

A waitqueue is an object on which multiple threads can wait; other threads
can wake up either one or all waiting threads.  A waitqueue is associated
with an external mutex which the user must supply for both wait and wake
operations.

Waitqueues differ from condition variables in three respects:
- waitqueues do not contain an internal mutex.  This makes them smaller, and
  reduces lock acquisitions.  On the other hand the waker must hold the
  associated mutex, whereas this is not required with condition variables.
- waitqueues support sched::thread::wait_for()

waitqueues support wait morphing and do not cause excess lock contention,
even with wake_all().

Reviewed-by: Nadav Har'El <nyh@cloudius-systems.com>
Signed-off-by: Avi Kivity <avi@cloudius-systems.com>