runtime: work around "P has cached GC work" failures

We still don't understand what's causing there to be remaining GC work
when we enter mark termination, but in order to move forward on this
issue, this CL implements a work-around for the problem.

If debugCachedWork is false, this CL does a second check for remaining
GC work as soon as it stops the world for mark termination. If it
finds any work, it starts the world again and re-enters concurrent
mark. This will increase STW time by a small amount proportional to
GOMAXPROCS, but fixes a serious correctness issue.

This works-around #27993.

Change-Id: Ia23b85dd6c792ee8d623428bd1a3115631e387b8
Reviewed-on: https://go-review.googlesource.com/c/156140


Run-TryBot: Austin Clements <austin@google.com>
TryBot-Result: Gobot Gobot <gobot@golang.org>
Reviewed-by: Michael Knyszek <mknyszek@google.com>
Reviewed-by: Rick Hudson <rlh@golang.org>