Restructure pi_semaphore struct for generic inheritance framework.

First patch in a series to implement a generic priority inheritance
framework that can be used by semaphores that use priority inheritance.

This patch makes pi_semaphore a 'base class' for pi-protocols. pi_semaphore
is updated to include a pi_sem_record field named stack_node. This stack_node
is a linked-list node that a task holding the pi_semaphore instance adds to
their semaphore stack.  Note that the task's semaphore stack (or linked-list)
simply chains stack_node's of held semaphores into a single linked-list.
This is safe since there is only one semaphore holder at any given moment.

Finally, FMLP-specific data members out to child class fmlp_semaphore.

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