bpf, selftests: Add cgroup v1 net_cls classid helpers

Minimal set of helpers for net_cls classid cgroupv1 management in order
to set an id, join from a process, initiate setup and teardown. cgroupv2
helpers are left as-is, but reused where possible.

Signed-off-by: Daniel Borkmann <daniel@iogearbox.net>
Signed-off-by: Alexei Starovoitov <ast@kernel.org>
Acked-by: Andrii Nakryiko <andrii@kernel.org>
Link: https://lore.kernel.org/bpf/20210913230759.2313-2-daniel@iogearbox.net