Add support for pluggable Docker exec handlers. The default handler is
now Docker's native exec API call. The previous default, nsenter, can be
selected by passing --docker-exec-handler=nsenter when starting the
kubelet.
This change instructs kubelet to switch to using the Runtime interface. In order
to do it, the change moves the Prober instantiation to DockerManager.
Note that most of the tests in kubelet_test.go needs to be migrated to
dockertools. For now, we use type assertion to convert the Runtime interface to
DockerManager in most tests.
