mq_notify: rework to fix use-after-close/double-close bugs

mq_notify: rework to fix use-after-close/double-close bugs

in the error path where the mq_notify syscall fails, the initiating
thread may have closed the socket before the worker thread calls recv
on it. even in the absence of such a race, if the recv call failed,
e.g. due to seccomp policy blocking it, the worker thread could
proceed to close, producing a double-close condition.

this can all be simplified by moving the mq_notify syscall into the
new thread, so that the error case does not require pthread_cancel.
now, the initiating thread only needs to read back the error status
after waiting for the worker thread to consume its arguments.