vendor: add github.com/coreos/go-systemd/activation

Docker-DCO-1.1-Signed-off-by: Brandon Philips <brandon.philips@coreos.com> (github: philips)
server: add socket activation

This adds the ability to socket activate docker by passing in
`-H fd://*` along with examples systemd configuration files.

The fastest way to test this is to run:

```
/usr/lib/systemd/systemd-activate -l 127.0.0.1:2001 /usr/bin/docker -d -H 'fd://*'
docker -H tcp://127.0.0.1:2001 ps
```

Docker-DCO-1.1-Signed-off-by: Brandon Philips <brandon.philips@coreos.com> (github: philips)
feat(docs): add socket activation documentation

Docker-DCO-1.1-Signed-off-by: Brandon Philips <brandon.philips@coreos.com> (github: philips)
docs: improve the socket activation cli docs

as suggested by SvenDowideit expand the docs to have more information on
socket activation.

Docker-DCO-1.1-Signed-off-by: Brandon Philips <brandon.philips@coreos.com> (github: philips)
fix(docs): add Systemd in front of socket activation

Suggested by SvenDowideit.

Docker-DCO-1.1-Signed-off-by: Brandon Philips <brandon.philips@coreos.com> (github: philips)
Move listenfd to utility package

Docker-DCO-1.1-Signed-off-by: Brandon Philips <brandon.philips@coreos.com> (github: philips)
Allow fd:// like unix:// and tcp://

Somthing like 20605eb310f0b57bd06eea80ec63c5022fc83bde

Docker-DCO-1.1-Signed-off-by: Brandon Philips <brandon.philips@coreos.com> (github: philips)
fix(cli.rst): add missing underscores

As suggested by @metalivedev

Docker-DCO-1.1-Signed-off-by: Brandon Philips <brandon.philips@coreos.com> (github: philips)