arm64: simplify contextidr_thread_switch

When CONFIG_PID_IN_CONTEXTIDR is not selected, we use an empty stub
definition of contextidr_thread_switch(). As everything we rely upon
exists regardless of CONFIG_PID_IN_CONTEXTIDR, we don't strictly require
an empty stub.

By using IS_ENABLED() rather than ifdeffery, we avoid duplication, and
get compiler coverage on all the code even when CONFIG_PID_IN_CONTEXTIDR
is not selected and the code is optimised away.

Signed-off-by: Mark Rutland <mark.rutland@arm.com>
Cc: Catalin Marinas <catalin.marinas@arm.com>
Cc: Will Deacon <will.deacon@arm.com>
Signed-off-by: Will Deacon <will.deacon@arm.com>