[RSDK-8885] Allow DiscoverComponents API to play well with modules

[hexbabe]

RSDK-8885

This PR solves the bug listed in the above ticket by extending Module to serve robot level APIs. We implement DiscoverComponents and consume it by making each module in manager.go have a client object that can make robot level API calls.

Added a simple unit test that tests that a Discover func was registered for the complex module example

Tested locally by giving a local version of all the models in viamrtsp a foo Discover func. Used a Go SDK client to query DiscoverComponents for the models, and got back

2024-10-01T14:29:01.252-0400    DEBUG   client.networking.webrtc        zap/options.go:212      finished client unary call      {"system": "grpc", "span.kind": "client", "grpc.service": "viam.robot.v1.RobotService", "grpc.method": "StartSession", "grpc.code": "OK", "grpc.time_ms": 0.337}
2024-10-01T14:29:01.252-0400    DEBUG   client.networking.webrtc        zap/options.go:212      finished client unary call      {"system": "grpc", "span.kind": "client", "grpc.service": "viam.robot.v1.RobotService", "grpc.method": "DiscoverComponents", "grpc.code": "OK", "grpc.time_ms": 1.038}
2024-10-01T18:29:01.252Z        INFO    client  go-sdk-client/client.go:64      map[discovery:[map[query:map[model:viam:viamrtsp:rtsp-mjpeg subtype:rdk:component:camera] results:map[fields:map[foo:map[Kind:map[StringValue:bar]]]]]]]