Add support for new gralloc HAL versions

As VTS connects to the IMapper and IAllocator HALs directly, it needs to
handle the case where the device only supports the newer HAL versions,
which includes IMapper 2.1 & 3.0 and IAllocator 3.0.

Since sensors VTS uses the same functionality from the different HAL
versions, condense the code into a common interface with HAL
version-specific template instantiation. Also remove the unused code
that came along with copying from the gralloc VTS reference source.

Bug: 138758242
Test: run gralloc-related sensors VTS on Pixel 2+
Change-Id: I1646d8f92546623594af8541bc8ac02955370694