Issue #1841 Make the health check for APIService a built in

[masa213f]

Fix for #1841. Please review.

APIService has 3 states: True, False or Unknown.
In this fix, when the state is True, it is judged as Healthy. In another state, it is judged as Progressing.
ref: https://godoc.org/k8s.io/kube-aggregator/pkg/apis/apiregistration#ConditionStatus

And APIService has 2 versions: v1 and v1beta1. (v1beta1 is old..)
Some application (like CertManager) suppose to use v1beta1. So I want to support v1beta1 for convenience.

[CLAassistant]

All committers have signed the CLA.

[codecov]

Codecov Report

Merging #1921 into master will increase coverage by 0.13%.
The diff coverage is 78.57%.

@@            Coverage Diff             @@
##           master    #1921      +/-   ##
==========================================
+ Coverage   35.42%   35.55%   +0.13%     
==========================================
  Files          85       85              
  Lines       12053    12079      +26     
==========================================
+ Hits         4270     4295      +25     
  Misses       7195     7195              
- Partials      588      589       +1

Impacted Files	Coverage Δ
util/kube/kube.go	35.31% <ø> (ø)	⬆️
util/health/health.go	60.55% <78.57%> (+1.38%)	⬆️
util/argo/audit_logger.go	0% <0%> (ø)	⬆️
controller/state.go	71.88% <0%> (+0.3%)	⬆️

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[alexec]

great stuff @masa213f - merged!

[masa213f]

@alexec
It's my pleasure. Thank you for checking!