Currently, markroot delays scanning mark worker stacks until mark
termination by putting the mark worker G directly on the rescan list
when it encounters one during the mark phase. Without this, since mark
workers are non-preemptible, two mark workers that attempt to scan
each other's stacks can deadlock.

However, this is annoyingly asymmetric and causes some real problems.
First, markroot does not own the G at that point, so it's not
technically safe to add it to the rescan list. I haven't been able to
find a specific problem this could cause, but I suspect it's the root
cause of issue #17099. Second, this will interfere with the hybrid
barrier, since there is no stack rescanning during mark termination
with the hybrid barrier.

This commit switches to a different approach. We move the mark
worker's call to gcDrain to the system stack and set the mark worker's
status to _Gwaiting for the duration of the drain to indicate that
it's preemptible. This lets another mark worker scan its G stack while
the drain is running on the system stack. We don't return to the G
stack until we can switch back to _Grunning, which ensures we don't
race with a stack scan. This lets us eliminate the special case for
mark worker stack scans and scan them just like any other goroutine.
The only subtlety to this approach is that we have to disable stack
shrinking for mark workers; they could be referring to captured
variables from the G stack, so it's not safe to move their stacks.

Updates #17099 and #17503.

Change-Id: Ia5213949ec470af63e24dfce01df357c12adbbea
Reviewed-on: https://go-review.googlesource.com/31820
Run-TryBot: Austin Clements <austin@google.com>
TryBot-Result: Gobot Gobot <gobot@golang.org>
Reviewed-by: Rick Hudson <rlh@golang.org>