Add sensorId to IBiometricAuthenticator methods

IBiometricAuthenticator is the interface that BiometricService
uses to do BiometricManager/BiometricPrompt-related stuff. This
change updates the implementations to pass sensorId as a parameter,
since the current design allows for FingerprintService, FaceService
etc to host multiple HALs and/or sensors.

Maintains functionality of deprecated FingerprintManager APIs.
Since getSensorProperties() requires internal or test permission,
use different binder calls for FingerprintManager invocations
vs BiometricService invocations of methods such as
isHardwareDetected and hasEnrolledFingerprints.

Moves HIDL HAL registration out of *Authenticator class and up
one layer (into AuthService), since *Authenticator code is to
be shared with AIDL HALs, which provide sensorId, strength,
and other configuration via the HAL interface.

Bug: 172291793
Test: Enroll, auth (BiometricPrompt and Lockscreen) on face and
      fingerprint devices

Change-Id: Ib2d8b792f0afde49550f320c4041ff1b1b3d5a50