runtime: use dispatch semaphores on Darwin
Changes Darwin semaphore support from using pthread mutexes and condition variables to using dispatch semaphores. Signaling a dispatch semaphore is async-signal-safe. Fixes #31264 Change-Id: If0ce47623501db13e3804b14ace5f4d8eaef461e Reviewed-on: https://go-review.googlesource.com/c/go/+/182258Reviewed-by:Elias Naur <mail@eliasnaur.com> Reviewed-by:
Keith Randall <khr@golang.org>
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