iothread: replace init_done_cond with a semaphore

Only sending an init-done message using lock+cond seems an overkill to
me.  Replacing it with a simpler semaphore.

Meanwhile, init the semaphore unconditionally, then we can destroy it
unconditionally too in finalize which seems cleaner.

Signed-off-by: Peter Xu <peterx@redhat.com>
Message-id: 20190306115532.23025-2-peterx@redhat.com
Message-Id: <20190306115532.23025-2-peterx@redhat.com>
Signed-off-by: Stefan Hajnoczi <stefanha@redhat.com>