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csi: refactor gRPC client to connect on first use
The gRPC client for CSI connected to the socket during initialization so that we can ensure the gRPC service interfaces have been initialized before use. But this design makes it challenging to correctly retry and timeout the initial connection in the plugin supervisor and then reuse that same client for fingerprinting. Lazily connect to the socket on the first RPC call, allowing the caller's context to be used to control retries and timeouts. This also gives the CSI plugin manager instance the ability to retry its initial connection setup.
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