libbinder-trusty: Use trusty_peer_id

Use the new peer id internally in TrustyRpcService and give clients an
overload for setPerSessionRootObject that they can use to receive that
as their peer information.

Bug: 401776482
Test: ag/33814054
Flag: EXEMPT bugfix
Change-Id: I5210ef9f9231566ce619f3c91f1f3cde65ed9e53