libcasper: fix descriptors numbers

Casper services expect that the first 3 descriptors (stdin/stdout/stderr)
will point to /dev/null. Which Casper will ensure later. The Casper
services are forked from the original process. If the initial process
closes one of those descriptors, Casper may reuse one of them for it on
purpose. If this is the case, then renumarate the descriptors used by
Casper to higher numbers. This is done already after the fork, so it
doesn't break the parent process.

PR: 255339
Reported by: Borja Marcos <borjam (at) sarenet.es>
Tested by: jkim@

(cherry picked from commit aa310ebfba3d49a0b6b03a103b969731a8136a73)

Git Hash: 6c0a51837f4ba242ea723a887c3b6120d9335c8f
Git Author: oshogbo@FreeBSD.org

Copy head@r302406 to stable/11 as part of the 11.0-RELEASE cycle.
Prune svn:mergeinfo from the new branch, as nothing has been merged
here.

Additional commits post-branch will follow.

Approved by: re (implicit)
Sponsored by: The FreeBSD Foundation

Add flags to the Casper services.

CASPER_SERVICE_STDIO - Casper will not close the first three descriptors (stdin,
stdout and stderr) this can be helpful for debugging.
CASPER_SERVICE_FD - Capser will not close all other descriptors, this can
be useful for a filesystem service.

Convert casperd(8) daemon to the libcasper.
After calling the cap_init(3) function Casper will fork from it's original
process, using pdfork(2). Forking from a process has a lot of advantages:
1. We have the same cwd as the original process.
2. The same uid, gid and groups.
3. The same MAC labels.
4. The same descriptor table.
5. The same routing table.
6. The same umask.
7. The same cpuset(1).
From now services are also in form of libraries.
We also removed libcapsicum at all and converts existing program using Casper
to new architecture.

Discussed with: pjd, jonathan, ed, drysdale@google.com, emaste
Partially reviewed by: drysdale@google.com, bdrewery
Approved by: pjd (mentor)
Differential Revision: https://reviews.freebsd.org/D4277