runtime: Start and stop individual goroutines at gc safepoints

Code to bring goroutines to a gc safepoint one at a time,
do some work such as scanning, and restart the
goroutine, and then move on to the next goroutine.
Currently this code does not do much useful work
but this infrastructure will be critical to future
concurrent GC work.

Fixed comments reviewers.

LGTM=rsc
R=golang-codereviews, rsc, dvyukov
CC=golang-codereviews
https://codereview.appspot.com/131580043