Revert "ipc,sem: remove uneeded sem_undo_list lock usage in exit_sem()"

This reverts commit a9795584.

Commit a9795584 ("ipc,sem: remove uneeded sem_undo_list lock usage
in exit_sem()") removes a lock that is needed.  This leads to a process
looping infinitely in exit_sem() and can also lead to a crash.  There is
a reproducer available in [1] and with the commit reverted the issue
does not reproduce anymore.

Using the reproducer found in [1] is fairly easy to reach a point where
one of the child processes is looping infinitely in exit_sem between
for(;;) and if (semid == -1) block, while it's trying to free its last
sem_undo structure which has already been freed by freeary().

Each sem_undo struct is on two lists: one per semaphore set (list_id)
and one per process (list_proc).  The list_id list tracks undos by
semaphore set, and the list_proc by process.

Undo structures are removed either by freeary() or by exit_sem().  The
freeary function is invoked when the user ...