Since Go 1.16 (which recently became the minimum supported Go version
for this project), the package io/ioutil is deprecated in favor of
equivalent functionality in the io and os packages.  staticcheck warns
about this.  Address all the warnings by switching to the non-deprecated
replacement functions.

v2 encryption policies are now recommended, due to various security and
usability advantages over v1 policies.  Many people have been running
into the usability problems with v1, so it's desirable to get people
onto v2 without having to manually opt-in.

Therefore, when 'fscrypt setup' creates /etc/fscrypt.conf, enable
policy_version 2 automatically if the kernel supports it.

I decided to go with this solution over the policy_version "auto" I
suggested originally because this way is simpler, it can still be
changed to "auto" later if desired, and "auto" might require changing
how we parse the config file (since currently the config file is mapped
directly to a protobuf where policy_version is an 'int' and is shared
with EncryptionOptions).

Resolves https://github.com/google/fscrypt/issues/182

There's no real need to allow users to choose the key description prefix
(a.k.a. the "service"), since on ext4 and f2fs we can just use "ext4"
and "f2fs" for compatibility with all kernels both old and new, and on
other filesystems we can just use "fscrypt".  So, let's do that.

Since this removes the point of the "--legacy" option to 'fscrypt setup'
and the "compatibility" field in /etc/fscrypt.conf, remove those too.

Specifically, we start ignoring the "compatibility" in existing config
files and not writing it to new ones.  The corresponding protobuf field
number and name are reserved.  We stop accepting the "--legacy" option
at all, although since it was default true and there was no real reason
for anyone to change it to false, probably no one will notice.  If
anyone does, they should just stop specifying the option.

Note that this change only affects user keyrings and thus only affects
v1 encryption policies, which are deprecated in favor of v2 anyway.

If the user has set a restrictive umask, e.g. 0077, then
/etc/fscrypt.conf would be created without the world-readable bit set.
Fix it by overriding the umask when creating the file.

Resolves https://github.com/google/fscrypt/issues/151

This commit changes the error handling for the actions package to use
the error handling library github.com/pkg/errors. This means replacing
"errors" with "github.com/pkg/errors", reworking some of the error
values, and wrapping some errors with additional context.

This commit also changes the Protector/Policy API, moving most of the
package functionality into Protector or Policy methods. These types are
now "locked" when they are queried from the filesystem, and Unlock()
must be used to get their corresponding keys. Note that only certain
operations will require unlocking the keys. Certain unnecessary
functions and methods are also removed.

This CL also fixes two bugs reported by Tyler Hicks in CreateConfigFile.
CPU time is used instead of wall time, and kiB is used instead of kB.

Change-Id: I88f45659e9fe4938d148843e3289e7b6d5b698d8

This commit makes the callbacks for getting keys easier to understand.
Functions which need keys now take a KeyFunc callback. This callback
contains a ProtectorInfo parameter (basically a read-only version of
metadata.ProtectorData) and a boolean which indicates if the call is
being retried. The documentation is also updated to say which functions
will retry the KeyFunc.

For selecting a protector, there is now an OptionFunc callback which
takes a slice of ProtectorOptions. A ProtectorOption is a ProtectorInfo
along with additional information about a linked filesystem (if
applicable).

This commit also adds in methods for getting the protector options for a
specific filesystem or policy. It also adds a function for getting the
policy descriptor for a specific path.

Change-Id: I41e0d94ffd44e7166b0c5cf1b5d18437960bdf90

This commit adds in the actions package. This package will be the
highest-level interface to the fscrypt packages. The public functions
in this package will be called directly from cmd/fscrypt.

The actions added in this commit pertain to creating and reading the
fscrypt global config file "fscrypt.conf". The challenging part about
creating this file is finding the correct hashing parameters for the
desired time target.

The getHashingCosts() function finds the desired costs by doubling the
costs and running the passphrase hash until the target is exceeded.
Then, a cost estimate is obtained using a linear interpolation between
the last two costs (and their time results).

Change-Id: I4a0eaf4856ec4ff49eb4360da3267f7caa9d07b2