ioutil package was deprecated in Go 1.16, replace all uses with their
respective replacements.
This patch was generated with a combination of `gofmt -r`, `eg`, and
manually (for `ioutil.ReadDir`).
This patch moves the test helper binaries to a "one directory per
helper" layout, and also makes them to be ignored in the coverage build
instead of all builds.
With this change, "go build ./..." will build all binaries including the
test helpers, which helps make sure that module manage automation also
considers them. In particular, this makes "go mod tidy" work fine.
