libbpf: Clean up and improve CO-RE reloc logging

Add logging of local/target type kind (struct/union/typedef/etc). Preserve
unresolved root type ID (for cases of typedef). Improve the format of CO-RE
reloc spec output format to contain only relevant and succinct info.

Signed-off-by: Andrii Nakryiko <andriin@fb.com>
Signed-off-by: Alexei Starovoitov <ast@kernel.org>
Link: https://lore.kernel.org/bpf/20200818223921.2911963-3-andriin@fb.com