init: cleanup some string usage

1) property_set() takes const std::string& for both of its arguments,
   so stop using .c_str() with its parameters
2) Simplify a few places where StringPrintf() is used to concatenate strings
3) Use std::to_string() instead of StringPrintf() where it's better suited

Test: Boot bullhead
Test: init unit tests
Change-Id: I68ebda0e469f6230c8f9ad3c8d5f9444e0c4fdfd