nptl: pthread_kill, pthread_cancel should not fail after exit (bug 19193)

This closes one remaining race condition related to bug 12889: if
the thread already exited on the kernel side, returning ESRCH
is not correct because that error is reserved for the thread IDs
(pthread_t values) whose lifetime has ended.  In case of a
kernel-side exit and a valid thread ID, no signal needs to be sent
and cancellation does not have an effect, so just return 0.

sysdeps/pthread/tst-kill4.c triggers undefined behavior and is
removed with this commit.

Reviewed-by: Adhemerval Zanella <adhemerval.zanella@linaro.org>
(cherry picked from commit 8af84560)