cgroup: Add cgroup_get_from_fd

Add a helper function to get a cgroup2 from a fd.  It will be
stored in a bpf array (BPF_MAP_TYPE_CGROUP_ARRAY) which will
be introduced in the later patch.

Signed-off-by: Martin KaFai Lau <kafai@fb.com>
Cc: Alexei Starovoitov <ast@fb.com>
Cc: Daniel Borkmann <daniel@iogearbox.net>
Cc: Tejun Heo <tj@kernel.org>
Acked-by: Tejun Heo <tj@kernel.org>
Signed-off-by: David S. Miller <davem@davemloft.net>