libbinder: Add Trusty IPC support to binderRpcTest

Add a new SocketType::TIPC socket to binderRpcTest
that is used to connect to the test service in Trusty.
This enables binderRpcTest on the connection between
Android and Trusty.

Bug: 230135749
Test: atest binderRpcTest on qemu_trusty_arm64
Change-Id: I10c77bab586e6f6a44117c3b376d591ed5e0b1fb