elf: inline lose for error handling

_dl_map_object_from_fd has complex error handling with cleanups.
It was managed by a separate function to avoid code bloat at
every failure case, but since the code was changed to use gotos
there is no longer such code bloat from inlining.

Maintaining a separate error handling function is harder as it
needs to access local state which has to be passed down. And the
same lose function was used in open_verify which is error prone.

The goto labels are changed since there is no longer a call.
The new code generates slightly smaller binary.

Reviewed-by: Adhemerval Zanella  <adhemerval.zanella@linaro.org>

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