libbpf: Add support for bpf_link-based cgroup attachment

Add bpf_program__attach_cgroup(), which uses BPF_LINK_CREATE subcommand to
create an FD-based kernel bpf_link. Also add low-level bpf_link_create() API.

If expected_attach_type is not specified explicitly with
bpf_program__set_expected_attach_type(), libbpf will try to determine proper
attach type from BPF program's section definition.

Also add support for bpf_link's underlying BPF program replacement:
  - unconditional through high-level bpf_link__update_program() API;
  - cmpxchg-like with specifying expected current BPF program through
    low-level bpf_link_update() API.

Signed-off-by: Andrii Nakryiko <andriin@fb.com>
Signed-off-by: Alexei Starovoitov <ast@kernel.org>
Link: https://lore.kernel.org/bpf/20200330030001.2312810-4-andriin@fb.com

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