Cleanup: refactor shutdown and signal handling facility

This disentangles the following functions, which were previously all mixed together:

* 1) Waiting for jobs to terminate when shutting down
* 2) Handling signals in the Docker daemon
* 3) Per-subsystem cleanup handlers
* 4) pidfile management

Responsibilities are dispatched as follows:

* Signal traps are set in `main`, and trigger `engine.Shutdown`
* `engine.Shutdown` coordinates cleanup by waiting for jobs to complete, and calling shutdown handlers
* To perform cleanup at shutdown, each subsystem registers handlers with `engine.OnShutdown`
* `daemon` is one subsystem, so it registers cleanup via `engine.OnShutdown`.
* `daemon` owns the pidfile, which is used to lock access to `/var/lib/docker`. Part of its cleanup is to remove the pidfile.

WaitGroups has internal mutex, there is no need to lock engine here.