libbpf: Init btf_{key,value}_type_id on internal map open

For internal and user maps, look up the key and value btf
types on open() and not load(), so that `bpf_map_btf_value_type_id`
is usable in `bpftool gen`.

Signed-off-by: Delyan Kratunov <delyank@fb.com>
Signed-off-by: Andrii Nakryiko <andrii@kernel.org>
Link: https://lore.kernel.org/bpf/78dbe4e457b4a05e098fc6c8f50014b680c86e4e.1647473511.git.delyank@fb.com