rt-thread [kernel][mutex] fix bug of thread exit without releasing mutex & add error check log

拉取/合并请求描述：(PR description)

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必须选择一项 Choose one (Mandatory):

[ ] 本拉取/合并请求是一个草稿版本 This PR is for a code-review and is intended to get feedback
[ ] 本拉取/合并请求是一个成熟版本 This PR is mature, and ready to be integrated into the repo

我在这个拉取/合并请求中已经考虑了 As part of this pull request, I've considered the following:

[ ] 已经仔细查看过代码改动的对比 Already check the difference between PR and old code
[ ] 代码风格正确，包括缩进空格，命名及其他风格 Style guide is adhered to, including spacing, naming and other styles
[ ] 没有垃圾代码，代码尽量精简，不包含#if 0代码，不包含已经被注释了的代码 All redundant code is removed and cleaned up
[ ] 所有变更均有原因及合理的，并且不会影响到其他软件组件代码或BSP All modifications are justified and not affect other components or BSP
[ ] 对难懂代码均提供对应的注释 I've commented appropriately where code is tricky
[ ] 代码是高质量的 Code in this PR is of high quality
[ ] 已经使用formatting 等源码格式化工具确保格式符合RT-Thread代码规范 This PR complies with RT-Thread code specification