Fix semijoin unique-ification for child relations

Fix semijoin unique-ification for child relations

For a child relation, we should not assume that its parent's
unique-ified relation (or unique-ified path in v18) always exists.  In
cases where all RHS columns that need to be unique-ified are equated
to constants, the unique-ified relation/path for the parent table is
not built, as there are no columns left to unique-ify.  Failing to
account for this can result in a SIGSEGV crash during planning.

This patch checks whether the parent's unique-ified relation or path
exists and skips unique-ification of the child relation if it does
not.

Author: Richard Guo <guofenglinux@gmail.com>
Discussion: https://postgr.es/m/CAMbWs49MOdLW2c+qbLHHBt8VBu=4ONpM91D19=AWeW93eFUF6A@mail.gmail.com
Backpatch-through: 18