udevd: wait for workers to finish when exiting

On some systems with lots of devices, device probing for certain drivers can
take a very long time. If systemd-udevd detects a timeout and kills the worker
running modprobe using SIGKILL, some devices will not be probed, or end up in
unusable state. The --event-timeout option can be used to modify the maximum
time spent in an uevent handler. But if systemd-udevd exits, it uses a
different timeout, hard-coded to 30s, and exits when this timeout expires,
causing all workers to be KILLed by systemd afterwards. In practice, this may
lead to workers being killed after significantly less time than specified with
the event-timeout. This is particularly significant during initrd processing:
systemd-udevd will be stopped by systemd when initrd-switch-root.target is
about to be isolated, which usually happens quickly after finding and mounting
the root FS.

If systemd-udevd is started by PID 1 (i.e. basically always), systemd will
kill both udevd and the workers after expiry of TimeoutStopSec. This is
actually better than the built-in udevd timeout, because it's more transparent
and configurable for users. This way users can avoid the mentioned boot problem
by simply increasing StopTimeoutSec= in systemd-udevd.service.

If udevd is not started by systemd (standalone), this is still an
improvement. udevd will kill hanging workers when the event timeout is
reached, which is configurable via the udev.event_timeout= kernel
command line parameter. Before this patch, udevd would simply exit with
workers still running, which would then become zombie processes.

With the timeout removed, the sd_event_now() assertion in manager_exit() can be
dropped.