tools: bpf: move the event reading loop to libbpf

There are two copies of event reading loop - in bpftool and
trace_helpers "library".  Consolidate them and move the code
to libbpf.  Return codes from trace_helpers are kept, but
renamed to include LIBBPF prefix.

Suggested-by: Alexei Starovoitov <ast@kernel.org>
Signed-off-by: Jakub Kicinski <jakub.kicinski@netronome.com>
Reviewed-by: Quentin Monnet <quentin.monnet@netronome.com>
Signed-off-by: Daniel Borkmann <daniel@iogearbox.net>