infra: Add generic check_prog_host function

Avoid copy/pasting the same block of code to check if a program is
available on the host machine.

Signed-off-by: Maxime Hadjinlian <maxime.hadjinlian@gmail.com>
Reviewed-by: Thomas De Schampheleire <thomas.de.schampheleire@gmail.com>
Signed-off-by: Thomas Petazzoni <thomas.petazzoni@free-electrons.com>