Fix KASSERT in 80044c78 causing build failures

Move the KASSERT to where struct ip6_hdr is populated

Fixes: 80044c785cb040a2cf73779d23f9e1e81a00c6c3
Reported-by: bapt
Reviewed-by: markj
Sponsored-by: Klara, Inc.

Add UDP encapsulation of ESP in IPv6

This patch provides UDP encapsulation of ESP packets over IPv6.
Ports the IPv4 code to IPv6 and adds support for IPv6 in udpencap.c
As required by the RFC and unlike in IPv4 encapsulation,
UDP checksums are calculated.

Co-authored-by: Aurelien Cazuc <aurelien.cazuc.external@stormshield.eu>
Sponsored-by: Stormshield
Sponsored-by: Wiktel
Sponsored-by: Klara, Inc.

sys: Remove $FreeBSD$: one-line .c pattern

Remove /^[\s*]*__FBSDID\("\$FreeBSD\$"\);?\s*\n/

net: clean up empty lines in .c and .h files

Fix possible double releasing for SA reference.

This is missing part of r318734. When crypto subsystem returns error
the xform code handles an error independently.

PR: 221849
MFC after: 5 days

For translated packets do not adjust UDP checksum if it is zero.

In case when decrypted and decapsulated packet is an UDP datagram,
check that its checksum is not zero before doing incremental checksum
adjustment.

Reported by: Eugene Grosbein
Tested by: Eugene Grosbein

Merge projects/ipsec into head/.

Small summary
-------------

o Almost all IPsec releated code was moved into sys/netipsec.
o New kernel modules added: ipsec.ko and tcpmd5.ko. New kernel
option IPSEC_SUPPORT added. It enables support for loading
and unloading of ipsec.ko and tcpmd5.ko kernel modules.
o IPSEC_NAT_T option was removed. Now NAT-T support is enabled by
default. The UDP_ENCAP_ESPINUDP_NON_IKE encapsulation type
support was removed. Added TCP/UDP checksum handling for
inbound packets that were decapsulated by transport mode SAs.
setkey(8) modified to show run-time NAT-T configuration of SA.
o New network pseudo interface if_ipsec(4) added. For now it is
build as part of ipsec.ko module (or with IPSEC kernel).
It implements IPsec virtual tunnels to create route-based VPNs.
o The network stack now invokes IPsec functions using special
methods. The only one header file <netipsec/ipsec_support.h>
should be included to declare all the needed things to work
with IPsec.
o All IPsec protocols handlers (ESP/AH/IPCOMP protosw) were removed.
Now these protocols are handled directly via IPsec methods.
o TCP_SIGNATURE support was reworked to be more close to RFC.
o PF_KEY SADB was reworked:
- now all security associations stored in the single SPI namespace,
and all SAs MUST have unique SPI.
- several hash tables added to speed up lookups in SADB.
- SADB now uses rmlock to protect access, and concurrent threads
can do SA lookups in the same time.
- many PF_KEY message handlers were reworked to reflect changes
in SADB.
- SADB_UPDATE message was extended to support new PF_KEY headers:
SADB_X_EXT_NEW_ADDRESS_SRC and SADB_X_EXT_NEW_ADDRESS_DST. They
can be used by IKE daemon to change SA addresses.
o ipsecrequest and secpolicy structures were cardinally changed to
avoid locking protection for ipsecrequest. Now we support
only limited number (4) of bundled SAs, but they are supported
for both INET and INET6.
o INPCB security policy cache was introduced. Each PCB now caches
used security policies to avoid SP lookup for each packet.
o For inbound security policies added the mode, when the kernel does
check for full history of applied IPsec transforms.
o References counting rules for security policies and security
associations were changed. The proper SA locking added into xform
code.
o xform code was also changed. Now it is possible to unregister xforms.
tdb_xxx structures were changed and renamed to reflect changes in
SADB/SPDB, and changed rules for locking and refcounting.

Reviewed by: gnn, wblock
Obtained from: Yandex LLC
Relnotes: yes
Sponsored by: Yandex LLC
Differential Revision: https://reviews.freebsd.org/D9352