Previously we used a polling/sleeping loop to wait for checkpoints
to begin and end, which leads to up to a couple hundred milliseconds
of needless thumb-twiddling.  Use condition variables instead.

Author: Thomas Munro
Reviewed-by: Andres Freund
Discussion: https://postgr.es/m/CA%2BhUKGLY7sDe%2Bbg1K%3DbnEzOofGoo4bJHYh9%2BcDCXJepb6DQmLw%40mail.gmail.com