Define new ACCESS_RCS_USER_CAPABILITY_EXCHANGE permission

Defines a new ACCESS_RCS_USER_CAPABILITY_EXCHANGE permission and
integrate it into role manager to be granted to system apps
holding the SMS, Dialer, and (newly defined) contacts role.

Adds permissions to new shell role for CTS testing.

Bug: 174861641
Bug: 154764486
Test: set TestRcsApp as each role and ensure the permission is granted
Change-Id: I863f2e6e1afffce5e8ea103790cf368c59734029