nptl: Use SA_RESTART for SIGCANCEL handler

The usage of signals to implementation pthread cancellation is an
implementation detail and should not be visible through cancellation
entrypoints.

However now that pthread_cancel always send the SIGCANCEL, some
entrypoint might be interruptable and return EINTR to the caller
(for instance on sem_wait).

Using SA_RESTART hides this, since the cancellation handler should
either act uppon cancellation (if asynchronous cancellation is enable)
or ignore the cancellation internal signal.

Checked on x86_64-linux-gnu and i686-linux-gnu.