selftests/bpf: Move some tc_helpers.h functions to test_progs.h

Move static inline functions id_from_prog_fd() and id_from_link_fd()
from prog_tests/tc_helpers.h to test_progs.h so these two functions
can be reused for later cgroup mprog selftests.

Signed-off-by: Yonghong Song <yonghong.song@linux.dev>
Signed-off-by: Andrii Nakryiko <andrii@kernel.org>
Link: https://lore.kernel.org/bpf/20250606163151.2429325-1-yonghong.song@linux.dev