Add module selection APIs to ST

Configure underlying ST module selection when connecting to STService.
This enables connection to a test HAL implementation.

1. Add listModuleProperties to STService interface.
2. Add ModuleProp argument to STService session attach methods.
3. Existing STService clients select the first module, to retain
   existing behavior.
4. Remove module props cacheing in STHelper.
5. Remove module re-attach on prepareForRec in STHelper, detach is now
   final. Module now re-attaches immediately on HAL death.
6. Explicitly error when no ST module is available in STManager.

Test: Manual verification of assistant/aiai phrase reco
Test: ST clients gracefully reconnect after HAL restart
Test: Manual verification of getModuleProp result
Bug: 269165331
Bug: 269166643
Change-Id: I1be9773aa20d68562154eb9fb9ec9e46583231c9