bpf: Add bpf_task_under_cgroup() kfunc

Add a kfunc that's similar to the bpf_current_task_under_cgroup.
The difference is that it is a designated task.

When hook sched related functions, sometimes it is necessary to
specify a task instead of the current task.

Signed-off-by: Feng Zhou <zhoufeng.zf@bytedance.com>
Acked-by: Yonghong Song <yhs@fb.com>
Link: https://lore.kernel.org/r/20230506031545.35991-2-zhoufeng.zf@bytedance.com
Signed-off-by: Alexei Starovoitov <ast@kernel.org>