selftests/bpf: Add selftests for cgroup1 hierarchy

Add selftests for cgroup1 hierarchy.
The result as follows,

$ tools/testing/selftests/bpf/test_progs --name=cgroup1_hierarchy
#36/1 cgroup1_hierarchy/test_cgroup1_hierarchy:OK
#36/2 cgroup1_hierarchy/test_root_cgid:OK
#36/3 cgroup1_hierarchy/test_invalid_level:OK
#36/4 cgroup1_hierarchy/test_invalid_cgid:OK
#36/5 cgroup1_hierarchy/test_invalid_hid:OK
#36/6 cgroup1_hierarchy/test_invalid_cgrp_name:OK
#36/7 cgroup1_hierarchy/test_invalid_cgrp_name2:OK
#36/8 cgroup1_hierarchy/test_sleepable_prog:OK
#36 cgroup1_hierarchy:OK
Summary: 1/8 PASSED, 0 SKIPPED, 0 FAILED

Besides, I also did some stress test similar to the patch #2 in this
series, as follows (with CONFIG_PROVE_RCU_LIST enabled):

- Continuously mounting and unmounting named cgroups in some tasks,
for example:

cgrp_name=$1
while true
do
mount -t cgroup -o none,name=$cgrp_name none /$cgrp_name
umount /$cgrp_name
done

- Continuously run this selftest concurrently,
while true; do ./test_progs --name=cgroup1_hierarchy; done

They can ran successfully without any RCU warnings in dmesg.

Signed-off-by: Yafang Shao <laoar.shao@gmail.com>
Link: https://lore.kernel.org/r/20231111090034.4248-7-laoar.shao@gmail.com
Signed-off-by: Alexei Starovoitov <ast@kernel.org>