media: fix "prepend-sps-pps-to-idr-frames" behavior

- Add constant.
- ACodec: Check for support only for video encoders, ignore otherwise.
- codec2: fix C2PrependHeaderModeSetting definition.
- CCodec: fail configure if the feature is not supported.
- CCodec: fix mapping between SDK and codec2

Bug: 32746212
Test: atest CtsMediaTestCases:MediaCodecTest#testPrependHeadersToSyncFrames
Change-Id: I8b86b4c8c139d6addbafc1a3558c640b1add42c9