Move open_{kprobes,uprobes,tracepoints} into BPF object

* for iovisor#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 iovisor#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.