Remove $FreeBSD$: two-line .h pattern

Remove /^\s*\*\n \*\s+\$FreeBSD\$$\n/

spdx: The BSD-2-Clause-FreeBSD identifier is obsolete, drop -FreeBSD

The SPDX folks have obsoleted the BSD-2-Clause-FreeBSD identifier. Catch
up to that fact and revert to their recommended match of BSD-2-Clause.

Discussed with: pfg
MFC After: 3 days
Sponsored by: Netflix

rtld: add rtld_fdprintfx()

It is same as rtld_fdprintf() without enforcement of the format string
to be a literal.

Sponsored by: The FreeBSD Foundation
MFC after: 1 week

Use rtld_putstr() instead of write() for the rtld msg() macro

This removes an unnecessary libc dependency from rtld.
See https://reviews.freebsd.org/D20663 for more details.

libexec: adoption of SPDX licensing ID tags.

Mainly focus on files that use BSD 2-Clause license, however the tool I
was using misidentified many licenses so this was mostly a manual - error
prone - task.

The Software Package Data Exchange (SPDX) group provides a specification
to make it easier for automated tools to detect and summarize well known
opensource licenses. We are gradually adopting the specification, noting
that the tags are considered only advisory and do not, in any way,
superceed or replace the license texts.

No functional change intended.

Add the LD_LIBRARY_PATH_FDS environmental variable.

This variable allows the loading of shared libraries via directory descriptors
rather than via library paths. If LD_LIBRARY_PATH_FDS=3:4:12, the directories
represented by file descriptors 3, 4 and 12 will searched for shared libraries
before the normal path-based mechanisms are used. This allows us to execute
unprivileged binaries from within a Capsicum sandbox even if they require
shared libraries.

Approved by: rwatson (mentor)
Reviewed by: kib
MFC after: 3 weeks
Sponsored by: DARPA/AFRL

Rtld links with the specially built pic static libc library to get some
C runtime services, like printf(). Unfortunately, the multithread-safeness
measures in the libc do not work in rtld environment.

Rip the kernel printf() implementation and use it in the rtld instead of
libc version. This printf does not require any shared global data and thus
is mt-safe. Systematically use rtld_printf() and related functions, remove
the calls to err(3).

Note that stdio is still pulled from libc due to libmap implementaion using
fopen(). This is safe but unoptimal, and can be changed later.

Reported and tested by: pgj
Diagnosed and reviewed by: kan (previous version)
Approved by: re (bz)