libc: INTERPOS_SYS macro for interposed syscalls

This macro makes uses the __sys_<foo>_t typedefs from libsys.h to
greatly simplify calling functions in the interposing table.

Reviewed by: kib
Differential Revision: https://reviews.freebsd.org/D44389

lib{c,sys}: return wrapped syscall APIs to libc

These provide standard APIs, but are implemented using another system
call (e.g., pipe implemented in terms of pipe2) or are interposed by the
threading library to support cancelation.

After discussion with kib (see D44111), I've concluded that it is
better to keep most public interfaces in libc with as little
as possible in libsys.

Reviewed by: kib
Differential Revision: https://reviews.freebsd.org/D44241