Do not assume that legacy HIDL HAL sensorIds == 0

HIDL HALs (IBiometricsFingerprint, IBiometricsFace) have their
sensorIds configured in config_biometric_sensors, and are not
always 0. Update framework logic to reflect this, otherwise
framework-side cache may clash with AIDL HALs.

Bug: 172957689
Test: atest CtsBiometricsTestCases
Change-Id: I24fd9dad6683bf9d49e32eef2f6b13e8fd832e16