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/zfsbe: Simplify

So $(foo) is a shorter version of "`foo`".

Sponsored by: Netflix
Differential Revision: https://reviews.freebsd.org/D39413

loader: zfs should support bootonce an nextboot

bootonce feature is temporary, one time boot, activated by
"bectl activate -t BE", "bectl activate -T BE" will reset the bootonce flag.

By default, the bootonce setting is reset on attempt to boot and the next
boot will use previously active BE.

By setting zfs_bootonce_activate="YES" in rc.conf, the bootonce BE will
be set permanently active.

bootonce dataset name is recorded in boot pool labels, bootenv area.

in case of nextboot, the nextboot_enable boolean variable is recorded in
freebsd:nvstore nvlist, also stored in boot pool label bootenv area.
On boot, the loader will process /boot/nextboot.conf if nextboot_enable
is "YES", and will set nextboot_enable to "NO", preventing /boot/nextboot.conf
processing on next boot.

bootonce and nextboot features are usable in both UEFI and BIOS boot.

To use bootonce/nextboot features, the boot loader needs to be updated on disk;
if loader.efi is stored on ESP, then ESP needs to be updated and
for BIOS boot, stage2 (zfsboot or gptzfsboot) needs to be updated
(gpart or other tools).

At this time, only lua loader is updated.

Sponsored by: Netflix, Klara Inc.
Differential Revision: https://reviews.freebsd.org/D25512

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)