[RSDK-9625] add discover service

[JohnN193]

https://viam.atlassian.net/browse/RSDK-9625

adds the discover service. Made it a separate package from the current viamonvif to avoid circular dependencies happening and to not break the current discovery workflow that people use.

requires this rdk pr to be merged before usage. In addition only viam-servers on this version or later can use the module due to the tagger/proto reflection issue we ran into.

test robot

example code(get the API key from the robot)

package main

import (
	"context"

	"go.viam.com/rdk/logging"
	"go.viam.com/rdk/robot/client"
	"go.viam.com/rdk/services/discovery"
	"go.viam.com/utils/rpc"
)

func main() {
	logger := logging.NewLogger("client")
	machine, err := client.New(
		context.Background(),
		"rtsp-cams-main.ytxdza0q92.viam.cloud",
		logger,
		client.WithDialOptions(rpc.WithEntityCredentials( 
            /* Replace "<API-KEY-ID>" (including brackets) with your machine's api key id */
			"<API-KEY-ID>",
			rpc.Credentials{
				Type:    rpc.CredentialsTypeAPIKey, 
                /* Replace "<API-KEY>" (including brackets) with your machine's api key */
				Payload: "<API-KEY>",
			})),
	)
	if err != nil {
		logger.Fatal(err)
	}
	ctx := context.Background()

	defer machine.Close(ctx)
	logger.Info("Resources:")
	logger.Info(machine.ResourceNames())

	dis, err := discovery.FromRobot(machine, "discover")
	if err != nil {
		logger.Fatal(err)
	}
	cfgs, err := dis.DiscoverResources(ctx, nil)
	if err != nil {
		logger.Fatal(err)
	}
	for _, cfg := range cfgs {
		logger.Infof("Name: %v\tModel: %v\tAPI: %v", cfg.Name, cfg.Model, cfg.API)
		logger.Infof("Attributes: ", cfg.Attributes)
	}
}

[JohnN193]

will remove before merging

[JohnN193]

currently using the camera's username and the camera number as the name of the resource we surface. Can further separate by url if requested(since cameras appear to have multiple urls)

[JohnN193]

I don't know if a camera can have only a username or only a password, so I disallowed those combinations