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

[Martine Lenders]

> 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)

I don't get that error on native. Which platform are you using?

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https://github.com/RIOT-OS/RIOT/pull/3646#issuecomment-142240295
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