Introduce foreground service type enforcement

All foreground services are required to declare a type now, or
it'll get a ForegroundServiceTypeNotAllowedException if the app's
target SDK level is Android U or later.

Upon starting the foreground service, the app is required to
have been granted with the proper permissions which are required
by the foreground service types it's starting with.

Deprecated the type "none" and "dataSync", introduced new types:
"heath", "remoteMessaging", "systemExempted" and "specialUse".

The implementation of the enforcement will be in a follow up CL.

Bug: 246792057
Bug: 254662338
Test: atest CtsAppFgsTestCases
Change-Id: I54e60b443df8134653379a6ff13e00ed14d3f194