urcu-bp: perform thread registration on urcu_bp_register_thread

urcu-bp: perform thread registration on urcu_bp_register_thread

Some real-time use-cases (e.g. Xenomai) require to perform urcu-bp
thread registration early in the thread life-time before it starts
performing real-time tasks.

Currently, this can be achieved by issuing a urcu_bp_read_lock() and
urcu_bp_read_unlock() pair, or by using urcu_bp_read_ongoing(), while in
the initialization phrase.

However, it seems natural to expect that calling urcu_bp_register_thread()
would have the side effect to perform the lazy thread registration
immediately rather than being a no-op.

Signed-off-by: Mathieu Desnoyers <mathieu.desnoyers@efficios.com>