Use channel-based APIs to open devices

Implement vk_icdInitializeConnectToServiceCallback and use the callback
to connect to tracing, sysmem, and the driver, and pass those
connections to libmagma. This involves changing a bunch of APIs inside
anvil to take an anv_device_handle_t instead of an fd.

Test: go/magma-tps#L0 and termina_integration_tests on NUC
Bug: 13095

Change-Id: Ia7c470eb1b830bb49550428de10f3325827920a8
12 files changed