trap UB from attempts to join a detached thread

trap UB from attempts to join a detached thread

passing to pthread_join the id of a thread which is not joinable
results in undefined behavior.

in principle the check to trap does not necessarily work if
pthread_detach was called after thread creation, since no effort is
made here to synchronize access to t->detached, but the check is
well-defined and harmless for callers which did not invoke UB, and
likely to help catch erroneous code that would otherwise mysteriously
hang.

patch by William Pitcock.