[ELF] Support --{,no-}allow-shlib-undefined

Summary:
In ld.bfd/gold, --no-allow-shlib-undefined is the default when
linking an executable. This patch implements a check to error on
undefined symbols in a shared object, if all of its DT_NEEDED entries
are seen.

Our approach resembles the one used in gold, achieves a good balance
to be useful but not too smart (ld.bfd traces all DSOs and emulates
the behavior of a dynamic linker to catch more cases).

The error is issued based on the symbol table, different from
undefined reference errors issued for relocations. It is most
effective when there are DSOs that were not linked with -z defs (e.g.
when static sanitizers runtime is used).

gold has a comment that some system libraries on GNU/Linux may have
spurious undefined references and thus system libraries should be
excluded (https://sourceware.org/bugzilla/show_bug.cgi?id=6811). The
story may have changed now but we make --allow-shlib-undefined the
default for now. Its interaction with -shared can be discussed in the
future.

Reviewers: ruiu, grimar, pcc, espindola

Reviewed By: ruiu

Subscribers: joerg, emaste, arichardson, llvm-commits

Differential Revision: https://reviews.llvm.org/D57385

[ELF] Default to --no-allow-shlib-undefined for executables

Summary:
This follows the ld.bfd/gold behavior.

The error check is useful as it captures a common type of ld.so
undefined symbol errors as link-time errors:

    // a.cc => a.so (not linked with -z defs)
    void f(); // f is undefined
    void g() { f(); }

    // b.cc => executable with a DT_NEEDED entry on a.so
    void g();
    int main() { g(); }

    // ld.so errors when g() is executed (lazy binding) or when the program is started (-z now)
    // symbol lookup error: ... undefined symbol: f

Reviewers: ruiu, grimar, pcc, espindola

Reviewed By: ruiu

Subscribers: llvm-commits, emaste, arichardson

Tags: #llvm

Differential Revision: https://reviews.llvm.org/D57569