rcu-tasks: Restore use of timers for non-RT kernels

The use of hrtimers for RCU-tasks grace-period delays works well in
general, but can result in excessive grace-period delays for some
corner-case workloads.  This commit therefore reverts to the use of
timers for non-RT kernels to mitigate those grace-period delays.

Signed-off-by: Paul E. McKenney <paulmck@kernel.org>