libbinder: reverse connections

When connecting to an RPC client server, you can request to serve a
threadpool so that you can receive callbacks from it.

Future considerations:
- starting threads dynamically (likely very, very soon after this CL)
- combining threadpools (as needed)

Bug: 185167543
Test: binderRpcTest
Change-Id: I992959e963ebc1b3da2f89fdb6c1ec625cb51af4