Clean up connection to sensor hidl service

getService() would block until hidl service up and running. Replace
retry delay with service registration listener to speed up.

Moreover, when getService() return nullptr, it means sensor hidl
service does not exist. Remove retry in this case and return failure.

Bug: 66916774
Test: test device boot
Test: adb shell "stop; start"
Test: kill sensor hidl process
Test: mod manifest file to remove sensor entry
Change-Id: I685971425e97e314699de4630d9adf400aba4af2