selftests/bpf: Integrate the socket_cookie test to test_progs

Currently, the selftest for the BPF socket_cookie helpers is built and
run independently from test_progs. It's easy to forget and hard to
maintain.

This patch moves the socket cookies test into prog_tests/ and vastly
simplifies its logic by:
- rewriting the loading code with BPF skeletons
- rewriting the server/client code with network helpers
- rewriting the cgroup code with test__join_cgroup
- rewriting the error handling code with CHECKs

Signed-off-by: Florent Revest <revest@chromium.org>
Signed-off-by: Alexei Starovoitov <ast@kernel.org>
Acked-by: KP Singh <kpsingh@kernel.org>
Acked-by: Andrii Nakryiko <andrii@kernel.org>
Link: https://lore.kernel.org/bpf/20210210111406.785541-3-revest@chromium.org