Probe registration fixes

`open_kprobes` is a dict of open kprobes. Its keys are strings for normal
probes and a tuple for perf buffers. Normal probes need unregistering on script
exit; perf buffers do not. `cleanup` currently looks for string keys
(specifically type `str`) when working out what to unregister, which is a bit
brittle -- in Python2 strings can be both native `str` and `unicode`, depending
what exactly was passed to `attach-*/detach_*` and whether `from __future__
import unicode_literals` is used (e.g. #623).

This diff makes the API more relaxed by casting the probe name to `str` to
match the expectations of `cleanup`. This works in py2 (with and without
unicode_literals) and py3.

* rework `_get_kprobe_functions` to avoid unclosed blacklist warning
* rework `cleanup` to avoid changing size of dict while iterating
* make handling return of `bpf_function_name` work in py2 and py3

[cachetop] Display sorting field and order.

add a reference guide

tutorials: end-user, and python developer

This will make it easier to visualize what is the sorting field
and order

merge most .c and .py examples

[cachetop] top-like cachestat

* pass -fno-color-diagnostics to clang
* remove unicode import (#623)
* add time to cachetop output
* add keybindings to cachetop.8
* add cachetop links to README.md

make interval a positional parameter.

Alike cachestat.py but providing cache stats at the process level.

* Python USDT API

Code from @vmg

* Basic USDT example

* retire procstat.py

* improve/fix USDT exceptions

* Add profile: a CPU profiler

* move Perf to common class

Use errno symbols in offcputime.py

Fix probe detaching and auto-kprobes

* for #605, this diff moves probe storage from the BPF module to the BPF object,
  letting each instantiation clean up its own probes. A module-level counter
  for all open probes is provided for the quota check. It also adds a
  `cleanup()` function to force cleanup before the `atexit` handler runs.

* for #614, it removes the `len(open_kprobes) == 0` check that prevented more
  than one autoload probe working. It fixes the tests that this change breaks by
  calling the `cleanup()` function added.

Prior to this diff we used inconsistent types for keys in `open_kprobes`. The
results from the regex match (`attach_kprobe(event_re=..)`) and the automatic
`kprobe__` features were passed through `str.decode()`, yielding unicode keys,
but specific matches (i.e. from `attach_kprobe(event=..)`) were stored with
string keys passed down from the caller. Only probes under string keys were
released in `cleanup_kprobes`, leaving attached probes on program exit.

This diff makes all the keys regular strings. I erred on the side of using
regular strings over `str.decode()`ing them because a) this data isn't passed
outside of Python, b) it's more Python 3 compatible (there is no `.decode()` on
a regular string object in Python 3 so such a change would ultimately need
removing again).

I also cleaned up a few other things:

* removed the call to `awk` for getting probable functions

* removed the `isinstance` checks when cleaning uprobes/tracepoints -- we
  should only have string keys in these dicts

* made `num_open_kprobes` skip the perf_events buffers. People likely use this
  to check that the right number of probes have been placed so counting
  perf_events buffers doesn't make sense here

killsnoop: s/failed opens/failed kill syscalls/

fileslower: try probing vfs_write if __vfs_write is missing

Build debian packages in docker containers