libbinder: add RpcTransportTipcAndroid

Adds a new Binder RPC transport in Android for Trusty IPC.
To enable code sharing between the transports, this moves
interruptableReadOrWrite into a new RpcTransportUtils.h header
that is used by RpcTransportRaw and RpcTransportTrusty.

Bug: 224644083
Test: trusty_binder_test
Change-Id: I47843560374049821cbfc36875a738083ffd5d75