runtime: M-targeted signals for BSDs

runtime: M-targeted signals for BSDs

For these, we split up the existing runtime.raise assembly
implementation into its constituent "get thread ID" and "signal
thread" parts. This lets us implement signalM and reimplement raise in
pure Go. (NetBSD conveniently already had lwp_self.)

We also change minit to store the procid directly, rather than
depending on newosproc to do so. This is because newosproc isn't
called for the bootstrap M, but we need a procid for every M. This is
also simpler overall.

For #10958, #24543.

Change-Id: Ie5f1fcada6a33046375066bcbe054d1f784d39c0
Reviewed-on: https://go-review.googlesource.com/c/go/+/201402
Run-TryBot: Austin Clements <austin@google.com>
Reviewed-by: Cherry Zhang <cherryyz@google.com>