daemon: Fix race condition in daemonize().

daemon: Fix race condition in daemonize().

If parent_waits is true, the parent process waits for a signal from
the child before it exits. However, this signal can arive before the
parent has set up its signal handler.

This patch closes the race window by switching from signals to
pipes. We now create a pipe before the new process is forked, and
let the parent block on read(2) until the child exits or indicates
success by writing a byte to one end of the pipe. The child process
receives the file descriptor of the writing end of the pipe as the
return value of daemonize().

The only user of the parent_waits feature is para_server, which is
changed accordingly.