libbpf: Add generic bpf_program__attach()

Generalize BPF program attaching and allow libbpf to auto-detect type (and
extra parameters, where applicable) and attach supported BPF program types
based on program sections. Currently this is supported for:
- kprobe/kretprobe;
- tracepoint;
- raw tracepoint;
- tracing programs (typed raw TP/fentry/fexit).

More types support can be trivially added within this framework.

Signed-off-by: Andrii Nakryiko <andriin@fb.com>
Signed-off-by: Alexei Starovoitov <ast@kernel.org>
Acked-by: Martin KaFai Lau <kafai@fb.com>
Link: https://lore.kernel.org/bpf/20191214014341.3442258-3-andriin@fb.com