audio: Parse module configurations from the APM XML files

The default implementation now loads the HAL configuration
from the legacy XML configuration file which was previously
consumed by the framework directly.

Note that errors in the config file will lead to crash
of the XML parser, pointing out to the source of the problem.

IMPORTANT NOTES:
  - Never use untested legacy config files with production
    devices.
  - Make sure that all possible configurations (for example,
    BT offload on/off) are tested.

Bug: 205884982
Test: atest VtsHalAudioCoreTargetTest
Change-Id: I01e4cd77a284d7df64ecb0c0b21cb16abfa0f6c5