Add new function WaitForParallelWorkersToAttach.

Once this function has been called, we know that all workers have
started and attached to their error queues -- so if any of them
subsequently exit uncleanly, we'll be sure to throw an ERROR promptly.
Otherwise, users of the ParallelContext machinery must be careful not
to wait forever for a worker that has failed to start.  Parallel query
manages to work without needing this for reasons explained in new
comments added by this patch, but it's a useful primitive for other
parallel operations, such as the pending patch to make creating a
btree index run in parallel.

Amit Kapila, revised by me.  Additional review by Peter Geoghegan.

Discussion: http://postgr.es/m/CAA4eK1+e2MzyouF5bg=OtyhDSX+=Ao=3htN=T-r_6s3gCtKFiw@mail.gmail.com

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