pf: rework pf_icmp_state_lookup() failure mode

If pf_icmp_state_lookup() finds a state but rejects it for not matching the
expected direction we should unlock the state (and NULL out *state). This
simplifies life for callers, and also ensures there's no confusion about what a
non-NULL returned state means.

Previously it could have been left in there by the caller, resulting in callers
unlocking the same state twice.

MFC after: 1 week
Sponsored by: Rubicon Communications, LLC ("Netgate")

(cherry picked from commit 0578fe492284ded4745167060be794032e6e22f0)