socket-util: introduce CMSG_FIND_AND_COPY_DATA()

socket-util: introduce CMSG_FIND_AND_COPY_DATA()

The cmd(3) man page says about CMSG_DATA():
> The pointer returned cannot be assumed to be suitably aligned for
> accessing arbitrary payload data types. Applications should not cast
> it to a pointer type matching the payload, but should instead use
> memcpy(3) to copy data to or from a suitably declared object.

Hence, if we want to use unaligned data in cmsg, we need to copy it
before use. That's typically important for reading timestamps in
RISCV32, as the time_t is 64bit and size_t is 32bit on the system.