Cleanup: relayd: centralize thread stopping function

Rather than relying on having main.c and live.c threads both using the
same notification pipe from different stop_thread implementations,
centralize thread stop in one central function exposed to both main.c
and live.c

Signed-off-by: Mathieu Desnoyers <mathieu.desnoyers@efficios.com>
Signed-off-by: Jérémie Galarneau <jeremie.galarneau@efficios.com>