test: threads: Test thread cleanup upon abnormal termination

If a thread ends abnormally (that is, without retuning normally from its
run() function, for instance with a direct call to pthread_cancel()),
thread cleanup should still be performed. Add a test to ensure this.

Signed-off-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
Reviewed-by: Umang Jain <umang.jain@ideasonboard.com>

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