udev: Add id program and rule for FIDO security tokens

Add a fido_id program meant to be run for devices in the hidraw
subsystem via an IMPORT directive. The program parses the HID report
descriptor and assigns the ID_SECURITY_TOKEN environment variable if a
declared usage matches the FIDO_CTAPHID_USAGE declared in the FIDO CTAP
specification. This replaces the previous approach of whitelisting all
known security token models manually.

This commit is accompanied by a test suite and a fuzzer target for the
descriptor parsing routine.

Fixes: #11996.

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