cgroup: make hierarchy_id use cyclic idr

We want to be able to lookup a hierarchy from its id and cyclic
allocation is a whole lot simpler with idr.  Convert to idr and use
idr_alloc_cyclc().

Signed-off-by: Tejun Heo <tj@kernel.org>
Acked-by: Li Zefan <lizefan@huawei.com>