improve design of thread-start with explicit scheduling attributes

improve design of thread-start with explicit scheduling attributes

eliminate the awkward startlock mechanism and corresponding fields of
the pthread structure that were only used at startup.

instead of having pthread_create perform the scheduling operations and
having the new thread wait for them to be completed, start the new
thread with a wrapper start function that performs its own scheduling,
sending the result code back via a futex. this way the new thread can
use storage from the calling thread's stack rather than permanent
fields in the pthread structure.