bpf: Add bpf_cgroup_from_id() kfunc

cgroup ID is an userspace-visible 64bit value uniquely identifying a given
cgroup. As the IDs are used widely, it's useful to be able to look up the
matching cgroups. Add bpf_cgroup_from_id().

v2: Separate out selftest into its own patch as suggested by Alexei.

Signed-off-by: Tejun Heo <tj@kernel.org>
Link: https://lore.kernel.org/r/Y/bBaG96t0/gQl9/@slm.duckdns.org


Signed-off-by: Alexei Starovoitov <ast@kernel.org>