selftests/bpf: Test FD-based cgroup attachment

Add selftests to exercise FD-based cgroup BPF program attachments and their
intermixing with legacy cgroup BPF attachments. Auto-detachment and program
replacement (both unconditional and cmpxchng-like) are tested as well.

Signed-off-by: Andrii Nakryiko <andriin@fb.com>
Signed-off-by: Alexei Starovoitov <ast@kernel.org>
Link: https://lore.kernel.org/bpf/20200330030001.2312810-5-andriin@fb.com