darwin: fix behavior of libusb_set_interface_alt_setting when it stalls the pipe

darwin: fix behavior of libusb_set_interface_alt_setting when it stalls the pipe

In some versions of macOS a pipe stall returned when setting the alternate interface
causes the interface to become unusable. To handle this case the backend was always
re-claiming the interface before clearing the pipe stall. In macOS Monterey
unconditionally re-claiming the interface leads to an error due to the process already
having exclusive access. To resolve this issue we attempt to clear the halt and only
re-claim the interface if clearing the pipe stall returns kIOUSBUnknownPipeErr. Tested
with 12.0.1 and 10.13 and get the expected results in both cases with a custom USB
device that has this behavior.

Fixes #1011
Closes #1031

Signed-off-by: Nathan Hjelm <hjelmn@google.com>