bpf: improve error message for unsupported helper

bpf: improve error message for unsupported helper

BPF verifier emits "unknown func" message when given BPF program type
does not support BPF helper. This message may be confusing for users, as
important context that helper is unknown only to current program type is
not provided.

This patch changes message to "program of this type cannot use helper "
and aligns dependent code in libbpf and tests. Any suggestions on
improving/changing this message are welcome.

Signed-off-by: Mykyta Yatsenko <yatsenko@meta.com>
Acked-by: Andrii Nakryiko <andrii@kernel.org>
Acked-by: Quentin Monnet <qmo@kernel.org>
Link: https://lore.kernel.org/r/20240325152210.377548-1-yatsenko@meta.com
Signed-off-by: Alexei Starovoitov <ast@kernel.org>