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/

add ability to set watchdog timeout for a shutdown

This change allows to specify a watchdog(9) timeout for a system
shutdown. The timeout is activated when the watchdogd daemon is
stopped. The idea is to a prevent any indefinite hang during late
stages of the shutdown. The feature is implemented in rc.d/watchdogd,
it builds upon watchdogd -x option.

Note that the shutdown timeout is not actiavted when the watchdogd
service is individually stopped by an operator. It is also not
activated for the 'shutdown' to the single-user mode. In those cases it
is assumed that the operator knows what they are doing and they have
means to recover the system should it hang.

Significant subchanges and implementation details:
- the argument to rc.shutdown, completely unused before, is assigned to
rc_shutdown variable that can be inspected by rc scripts
- init(8) passes "single" or "reboot" as the argument, this is not
changed
- the argument is not mandatory and if it is not set then rc_shutdown is
set to "unspecified"
- however, the default jail management scripts and jail configuration
examples have been updated to pass "jail" to rc.shutdown, just in case
- the new timeout can be set via watchdogd_shutdown_timeout rc option
- for consistency, the regular timeout can now be set via
watchdogd_timeout rc option
- watchdogd_shutdown_timeout and watchdogd_timeout override timeout
specifications in watchdogd_flags
- existing configurations, where the new rc options are not set, should
keep working as before

I am not particularly wed to any of the implementation specifics.
I am open to changing or removing any of them as long as the provided
functionality is the same (or very close) to the proposed one.
For example, I think it can be implemented without using watchdogd -x,
by means of watchdog(1) alone. In that case there would be a small
window between stopping watchdogd and running watchdog, but I think that
that is acceptable.

Reviewed by: bcr (man page changes)
MFC after: 5 weeks
Relnotes: yes
Differential Revision: https://reviews.freebsd.org/D21221

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)