servicemanager: check VINTF manifest for VINTF ifs

For interfaces that are exported API to vendor, check that the
interfaces are declared in the manifest before allowing them to
register.

Implements this relationship:
    Device using VINTF instance => instance in manifest

The manifest is used for two things:
- understand which HAL interfaces are used so that we don't deprecate
  them too early.
- understand which interfaces are on the device: this allows clients to
  depend on a HAL interface IFF it is installed.

Bug: 136027762
Test: try registering interface that is and isn't in the VINTF manifest
Change-Id: I8aa09a56c638a6cc3aa93f102caf09da401a143b