time-util: Introduce parse_sec_def_infinity

time-util: Introduce parse_sec_def_infinity

This works like parse_sec() but defaults to USEC_INFINITY when passed an
empty string or only whitespace.

Also introduce config_parse_sec_def_infinity, which can be used to parse
config options using this function.

This is useful for time options that use "infinity" for default and that
can be reset by unsetting them.

Introduce a test case to ensure it works as expected.