devtools: Add security-check.py

Perform the following ELF security checks:

• PIE: Check for position independent executable (PIE), allowing for address space randomization
• NX: Check that no sections are writable and executable (including the stack)
• RELRO: Check for read-only relocations, binding at startup
• Canary: Check for use of stack canary

Also add a check to symbol-check.py that checks that only the subset of
allowed libraries is imported (to avoid incompatibilities).