bpf, sockmap: Pull socket helpers out of listen test for general use

No functional change here we merely pull the helpers in sockmap_listen.c
into a header file so we can use these in other programs. The tests we
are about to add aren't really _listen tests so doesn't make sense
to add them here.
Signed-off-by: John Fastabend <john.fastabend@gmail.com>
Signed-off-by: Daniel Borkmann <daniel@iogearbox.net>
Reviewed-by: Jakub Sitnicki <jakub@cloudflare.com>
Link: https://lore.kernel.org/bpf/20230523025618.113937-10-john.fastabend@gmail.com