audio: Remove dynamic dependency on HIDL interface libs from service

This is intended to reduce memory footprint of the default HAL
service. The inteface libraries were only used to retrieve
interface descriptors and use generated code to register as
service. This code was replaced with static code from
HIDL transport library.

Bug: 148115870
Test: check audio on devices
Change-Id: Ie8713d513cfbde64120546ba0db1cf80fd366138