[OpenMP] Refined the logic to give a regular task from a hidden helper task

In current implementation, if a regular task depends on a hidden helper task,
and when the hidden helper task is releasing its dependences, it directly calls
`__kmp_omp_task`. This could cause a problem that if `__kmp_push_task` returns
`TASK_NOT_PUSHED`, the task will be executed immediately. However, the hidden
helper threads are assumed to only execute hidden helper tasks. This could cause
problems because when calling `__kmp_omp_task`, the encountering gtid, which is
not the real one of the thread, is passed.

This patch uses `__kmp_give_task`, but because it is a static function, a new
wrapper `__kmpc_give_task` is added.

Reviewed By: AndreyChurbanov

Differential Revision: https://reviews.llvm.org/D106572