Extend dupfrom(2) into copyfd(2)

This single function allows copying file descriptors from and to
processes, and closing a previously copied remote file descriptor.
This function replaces the five FD-related UDS backcalls. While it
limits the total number of in-flight file descriptors to OPEN_MAX,
this change greatly improves crash recovery support of UDS, since all
in-flight file descriptors will be closed instead of keeping them
open indefinitely (causing VFS to crash on system shutdown). With the
new copyfd call, UDS becomes simpler, and the concept of filps is no
longer exposed outside of VFS.

This patch also moves the checkperms(2) stub into libminlib, thus
fully abstracting away message details of VFS communication from UDS.

Change-Id: Idd32ad390a566143c8ef66955e5ae2c221cff966

etc/system.conf

@@ -698,7 +698,7 @@ service vnd
 	ipc
 		SYSTEM vfs rs vm
 	;
-	uid	0;	# only for dupfrom(2)
+	uid	0;	# only for copyfd(2)
 };
 
 service uds
@@ -706,5 +706,5 @@ service uds
 	ipc
 		SYSTEM vfs rs vm
 	;
-	uid	0;	# for various VFS backcalls, until we have ACLs
+	uid	0;	# only for checkperms(2) and copyfd(2)
 };