spawn(): improve performance and simplify API

posix_spawn() is designed especially for this purpose, and thus it's
much more lightweight and efficient than manually fork/dup/exec-ing.

on my system, it improves the performance of spawn() by about 10x. given
that we make frequent calls to potentially multiple scripts, the
increased efficiency will add up overtime.

using posix_spawn() also simplifies the logic quite a bit, despite the
very verbose function names. however it does make cleanup a bit more
complicated.

this patch uses the linux kernel style cleanup strategy [0] (which I'm
personally not a huge fan of, but it fits this situation quite nicely)
with a "stack-like" unwinding via `goto`-s.

additionally simplify the spawn() API by taking in {read,write}fd
pointers and returning the pid instead of using some custom struct.

this coincidently also fixes #299

[0]: https://www.kernel.org/doc/html/v4.10/process/coding-style.html?highlight=goto#centralized-exiting-of-functions

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