runtime: simplify process for starting GC goroutine

Currently, when allocation reaches the GC trigger, the runtime uses
readyExecute to start the GC goroutine immediately rather than wait
for the scheduler to get around to the GC goroutine while the mutator
continues to grow the heap.

Now that the scheduler runs the most recently readied goroutine when a
goroutine yields its time slice, this rigmarole is no longer
necessary. The runtime can simply ready the GC goroutine and yield
from the readying goroutine.

Change-Id: I3b4ebadd2a72a923b1389f7598f82973dd5c8710
Reviewed-on: https://go-review.googlesource.com/9292


Reviewed-by: Rick Hudson <rlh@golang.org>
Reviewed-by: Russ Cox <rsc@golang.org>
Run-TryBot: Austin Clements <austin@google.com>