gnrc_sixlowpan_frag: adapt for #8511

This refactors the `gnrc_sixlowpan_frag` module for the API proposed
in #8511.

The `ctx` for `gnrc_sixlowpan_frag_send()` is required to be a
`gnrc_sixlowpan_msg_frag_t` object, so IPHC can later on use it to
provide the *original* datagram size (otherwise, we would need to adapt
the API just for that, which seems to me as convoluted as this
proposal).

I also provide an expose function with a future possibility to provide
more than just one `gnrc_sixlowpan_msg_frag_t` object later on (plus
having cleaner module separation in general).