Add an extra thread that can be used to offload operations that would
affect latency, but are not long-running tasks; those are handled by
isc_work API.
Each isc_loop now has matching isc_helper thread that also built on top
of uv_loop. In fact, it matches most of the isc_loop functionality, but
only the `isc_helper_run()` asynchronous call is exposed.
(cherry picked from commit 6370e9b311)
