Introduce urcu_assert and registration check

Add a "registered" flag to urcu.c and urcu-qsbr.c, set/cleared when a
thread is registered and unregistered. Add corresponding asserts in
those functions checking if a thread is registered or unregistered more
than once (which would be a bug in the way the application uses urcu).

Move the checks enabled on RCU_DEBUG to a single header: urcu/debug.h.
Add checks for the registered flag in RCU read-side lock functions (new
urcu_assert() checks, which are only built-in if RCU_DEBUG is defined at
compile-time).

Signed-off-by: Mathieu Desnoyers <mathieu.desnoyers@efficios.com>