Update fingerprint #authenticate interfaces & documentation

1) Split into onAuthenticationSucceeded and onAuthenticaitonFailed.
   No longer need to use "weird behavior" below:
   A) authenticated(id=0) == reject
   B) onEnrolled(id=0) --> previously forbidden
   C) remove(id=0) --> previously magic number to remove all
      enrollments. The new interface has remove(int[] ids).
2) Renames keystoreOperationId to operationId, since keystore
   is only one example of a valid use case. operationId and HATs
   can be used as attestation for any opaque operation.

Bug: 168842956
Bug: 168843220

Test: make -j56 android.hardware.biometrics.fingerprint-update-api
Test: make -j56 VtsHalBiometricsFingerprintTargetTest
Change-Id: I7ca0365be9cf82539d6cabc6d9fcec916badc323