feat(core): add register services extension interface

[aaronc]

Description

This adds support for registering services to the cosmossdk.io/core/appmodule API. Support can be added to main and the 0.47.x branch after this is merged.

Note that this distinguishes between msg and query services based on the cosmos.msg.v1.service option. This can be discovered from file descriptors using either the official protobuf or our fork of gogo. In the future, we will likely want to support a third service type for internal ADR-033 services.

My opinion is that this approach is a bit cleaner than needing to separate registration in golang methods or with a Configurator like we do now, but open to other approaches if people dislike it.

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