fix($rootScope): prevent infinite $digest by checking if asyncQueue is empty when decrementing ttl

An infinite $digest loop can be caused by expressions that invoke a promise.
The problem is that $digest does not decrement ttl unless it finds dirty changes;
it should check also if asyncQueue is empty.
Generally the condition for decrementing ttl should be the same as the
condition for terminating the $digest loop.

Fixes #2622