libbpf: refactor bpf_*_get_next_id() functions

In preparation for the introduction of a similar function for retrieving
the id of the next BTF object, consolidate the code from
bpf_prog_get_next_id() and bpf_map_get_next_id() in libbpf.

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