Refactor sessiond main/cleanup/ht-cleanup

Refactor sessiond main/cleanup/ht-cleanup

Main reason for this entire patchset: move teardown of ht-cleanup thread
_after_ the sessiond cleanup which needs to destroy hash tables. This
fixes leaks at sessiond teardown that makes the valgrind output hard to
use. As this has been done, various other issues with error handling,
leaks, and symmetry of allocation and teardown have been fixed, which
makes this a refactoring.

- Enforce symmetry between allocation and teardown,
- Handle all errors,
- Return all errors as EXIT_FAILURE,
- Standardize on zero being success, nonzero being error,
  (rather than < 0 being error),
- Fix pthread PERROR: we need to store ret into errno before
  calling PERROR, since pthread API does not set errno,
- Join errors now fall-through, rather than rely on the OS
  to teardown the rest.

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