nptl: extend test coverage for sched_yield

We add sched_yield() API testing to the existing thread affinity
test case because it allows us to test sched_yield() operation
in the following scenarios:

  * On a main thread.
  * On multiple threads simultaneously.
  * On every CPU the system reports simultaneously.

The ensures we exercise sched_yield() in as many scenarios as
we would exercise calls to the affinity functions.

Additionally, the test is improved by adding a semaphore to coordinate
all the threads running, so that an early starter thread won't consume
cpu resources that could be used to start the other threads.

Co-authored-by: DJ Delorie <dj@redhat.com>
Reviewed-by: Carlos O'Donell <carlos@redhat.com>

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