rcu-tasks: Use rcuwait for the rcu_tasks_kthread()

The waitqueue used by rcu_tasks_kthread() has always only one waiter.
With a guaranteed only one waiter, this can be replaced with rcuwait
which is smaller and simpler. With rcuwait based wake counterpart, the
irqwork function (call_rcu_tasks_iw_wakeup()) can be invoked hardirq
context because it is only a wake up and no sleeping locks are involved
(unlike the wait_queue_head).
As a side effect, this is also one piece of the puzzle to pass the RCU
selftest at early boot on PREEMPT_RT.

Replace wait_queue_head with rcuwait and let the irqwork run in hardirq
context on PREEMPT_RT.

Signed-off-by: Sebastian Andrzej Siewior <bigeasy@linutronix.de>
Signed-off-by: Paul E. McKenney <paulmck@kernel.org>