testing: fix panicking tests hang if Cleanup calls FailNow

Previously, it was impossible to call FailNow in a Cleanup.
Because it can terminate a panicking goroutine and cause its
parent hangs on t.signal channel. This CL sends the signal
in a deferred call to prevent the hang.

Fixes #41355

Change-Id: I4552d3a7ea763ef86817bf9b50c0e37fb34bf20f
Reviewed-on: https://go-review.googlesource.com/c/go/+/254637


Reviewed-by: Ian Lance Taylor <iant@golang.org>
Reviewed-by: Emmanuel Odeke <emm.odeke@gmail.com>
Run-TryBot: Ian Lance Taylor <iant@golang.org>
TryBot-Result: Go Bot <gobot@golang.org>
Trust: Emmanuel Odeke <emm.odeke@gmail.com>