raft: factor out the code to wakeup worker fiber

Raft has a worker fiber to perform async tasks such as WAL write,
state broadcast.

The worker was created and woken up from 2 places, leading at
least to code duplication. The patch wraps it into a new function
raft_worker_wakeup(), and uses it.

The patch is not need for anything functional, but was created
while working on #5339 and trying ideas. The patch seems to be
good refactoring making the code simpler, and therefore it is
submitted.