Rework custom scans to work more like the new extensible node stuff.

Per discussion, the new extensible node framework is thought to be
better designed than the custom path/scan/scanstate stuff we added
in PostgreSQL 9.5.  Rework the latter to be more like the former.

This is not backward-compatible, but we generally don't promise that
for C APIs, and there probably aren't many people using this yet
anyway.

KaiGai Kohei, reviewed by Petr Jelinek and me.  Some further
cosmetic changes by me.

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