[libc++] Avoid including <semaphore.h> on Apple

It turns out that <semaphore.h> is not well-behaved, as it transitively
includes <sys/param.h>, and that one defines several non-reserved macros
that clash with some downstream projects in modular builds. For the time
being, using <sys/semaphore.h> instead gives us the declarations we need
without the macros.

rdar://59744472