[OpenMP][Archer] Add support for taskwait depend

At the moment Archer segfaults due to a null-pointer access, if an application
uses taskwait with depend clause as used in the two new tests.
This patch cleans up the task_schedule function, moves semantic blocks into
functions and replaces the if blocks by a single switch statement. The switch
statement will warn, when new enum values are added in OMPT and makes clear
what code is executed for the different cases.

With free-agent tasks coming up in OpenMP 6.0, we should expect more
null-pointer task_data, so additional null-pointer checks were added.
We also cannot rely on having an implicit task on the stack, so the
BarrierIndex is stored during task creation.

Differential Revision: https://reviews.llvm.org/D158072