rcutorture: Abstract torture_stop_kthread()

Stopping of kthreads is not RCU-specific, so this commit abstracts
out torture_stop_kthread(), saving a few lines of code in the process.

Signed-off-by: Paul E. McKenney <paulmck@linux.vnet.ibm.com>
Reviewed-by: Josh Triplett <josh@joshtriplett.org>