Optimize checking if package defines companion services in CDM

Check if the companion application defines CompanionDeviceServices
before attempting to create CompanionDeviceServiceConnector and before
acquering mBoundCompanionApplications lock in
CompanionApplicationController.bindCompanionApplication().

Add more debug logging (under DEBUG flag).

Remove unused CompanionServicesRegister.primaryForPackage() method.

Bug: 222237190
Test: atest CtsCompanionDeviceManagerCoreTestCases
Test: atest CtsCompanionDeviceManagerNoCompanionServicesTestCases
Change-Id: Iee7d3feec89147c9585bcfb620eb2566ee685be3