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
```

This PR is an updated version of #2054