selftests/bpf: cgroup_helpers.c: Fix strncpy() fortify warning

Copy libbpf_strlcpy() from libbpf_internal.h to bpf_util.h, and rename it
to bpf_strlcpy(), then replace selftests strncpy()/libbpf_strlcpy() with
bpf_strlcpy(), fix compile warning.

The libbpf_internal.h header cannot be used directly here, because
references to cgroup_helpers.c in samples/bpf will generate compilation
errors. We also can't add libbpf_strlcpy() directly to bpf_util.h,
because the definition of libbpf_strlcpy() in libbpf_internal.h is
duplicated. In order not to modify the libbpf code, add a new function
bpf_strlcpy() to selftests bpf_util.h.

How to reproduce this compilation warning:

$ make -C samples/bpf
cgroup_helpers.c: In function ‘__enable_controllers’:
cgroup_helpers.c:80:17: warning: ‘strncpy’ specified bound 4097 equals destination size [-Wstringop-truncation]
   80 |                 strncpy(enable, controllers, sizeof(enable));
      |                 ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Signed-off-by: Rong Tao <rongtao@cestc.cn>
Signed-off-by: Andrii Nakryiko <andrii@kernel.org>
Link: https://lore.kernel.org/bpf/tencent_469D8AF32BD56816A29981BED06E96D22506@qq.com

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