[riot-notifications] [RIOT] posix: redo socket API to use conn (#3646)

[Emmanuel Baccelli]

When I run the example and I try to start the udp server with `udp server start 40` I get an error `Error: server already running` whatever port number I try (even higher port numbers e.g. above 1024)

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https://github.com/RIOT-OS/RIOT/pull/3646#issuecomment-142237492
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