rc.d: add a service jails config to all base system services

This gives more permissions to services (e.g. network access to
services which require this) when they are started as an automatic
service jail.

The sshd patch is important for the sshd-related functionality as
described in the man-page in the service jails part.

The location of the added env vars is supposed to allow overriding them
in rc.conf, and to hard-disable the use of svcj for some parts where it
doesn't make sense or will not work.

Only a subset of all of the services are fully tested (I'm running this
since more than a year with various services started as service jails).
The untested parts should be most of the time ok, in some edge-cases
more permissions are needed inside the service jail.
Differential Revision: https://reviews.freebsd.org/D40371

Remove $FreeBSD$: one-line sh pattern

Remove /^\s*#[#!]?\s*\$FreeBSD\$.*$\n/

rc.d/auditd: set pidfile

auditd creates a pidfile so we should use it for status checks.
This also seems to speed up the frequent onestatus checks used in
tests/sys/audit.

Reviewed By: asomers
Differential Revision: https://reviews.freebsd.org/D28389

auditd_stop: wait_for_pids instead of sleeping

It's faster and more reliable to wait_for_pids than to sleep 1.

cem@ suggested just to remove auditd_stop() and use the rc.subr default
stop action (SIGTERM instead of audit -t), which has a built-in
wait_for_pids. That may be a better solution.

Discussed with: cem
Reviewed by: asomers
Sponsored by: Dell EMC Isilon
Differential Revision: https://reviews.freebsd.org/D23223

Move the rc framework out of sbin/init into libexec/rc.

The reasons for this are forward looking to pkgbase:
* /sbin/init is a special binary; try not to replace it with
every package update because an rc script was touched.
(a follow-up commit will make init its own package)
* having rc in its own place will allow more easy replacement
of the rc framework with alternatives, such as openrc.

Discussed with: brd (during BSDCam), kmoore
Requested by: cem, bz
PR: 231522
Approved by: re (gjb)