Remove AC_SYS_RESTARTABLE_SYSCALLS and related code

As the Autoconf documentation says, "These days portable programs
[...] should not rely on `HAVE_RESTARTABLE_SYSCALLS', since nowadays
whether a system call is restartable is a dynamic issue, not a
configuration-time issue."

In other words, if we ever rely on HAVE_RESTARTABLE_SYSCALLS, we are
at the mercy of any code that Guile happens to be linked with, because
that code could install a signal handler without the SA_RESTART flag,
and then a Guile system call could unexpectedly return EINTR.

The readline part of this goes back to this problem report:
excellent example of the above paragraph.  It was noted during the
discussion that undefining HAVE_RESTARTABLE_SYSCALLS would fix the
problem, but that solution wasn't adopted - I guess because Guile was
still using cooperative threads then (not pthreads) and so there was a
significant concern (whether founded or not) that not using
restartable syscalls (where available) could lead to a loss of
performance.

Now Guile's default mode of operation is with pthreads, where we
already don't assume that HAVE_RESTARTABLE_SYSCALLS is reliable, so
there is no possible further performance loss.  And in any case we
really have no choice, if we want correct operation.

* configure.in (AC_SYS_RESTARTABLE_SYSCALLS): Removed.

* doc/ref/posix.texi (Signals): Remove statement that Guile always
  sets SA_RESTART flag.

* guile-readline/configure.in (GUILE_SIGWINCH_SA_RESTART_CLEARED):
  Remove this setting, together with its test code.
  (HAVE_RL_PRE_INPUT_HOOK): Remove this setting and its code, as no
  longer needed.

* guile-readline/readline.c (sigwinch_enable_restart): Removed.
  (scm_init_readline): Remove setting of rl_pre_input_hook.

* libguile/_scm.h (SCM_SYSCALL): Remove the definition that relies on
  HAVE_RESTARTABLE_SYSCALLS.

* libguile/scmsigs.c (scm_sigaction_for_thread): Don't always set the
  SA_RESTART flag if available.  Update docstring accordingly.
  (scm_init_scmsigs): Remove code that sets SA_RESTART flag for all
  signals.

doc/ref/posix.texi

@@ -1931,10 +1931,6 @@ for termination, not stopping.
 If a signal occurs while in a system call, deliver the signal then
 restart the system call (as opposed to returning an @code{EINTR} error
 from that call).
-
-Guile always enables this flag where available, no matter what
-@var{flags} are specified.  This avoids spurious error returns in low
-level operations.
 @end defvar
 
 The return value is a pair with information about the old handler as