Grant CDM roles when association is created

Grant CDM roles for the corresponding CDM profiles when Associations are
being created instead of in onDeviceConnected().
Remove `simulate_connect` and `simulate_disconnect` Shell commads that
aren't needed now (have been used in CTS tests, which is now being
updated to account for the new role granting logic).

Bug: 212656822
Test: atest CtsCompanionDeviceManagerCoreTestCases
Test: atest CtsCompanionDeviceManagerUiAutomationTestCases
Test: atest CtsOsTestCases:CompanionDeviceManagerTest
Change-Id: I44f5c73a815ff60ecfc9a4143eb0f85438015ad6