Fix issue #72116995: Add permission guarding Service#startForeground

Now requires permission if targeting P.

Note that this is a separate permission from the existing one
that is required for instant apps to use foreground services.  The
reason for this is that their semantics are different (the instant
apps permission is associated with an app op for control over what
the app is allowed, while the regular app permission is just a
normal permission that is always granted and only there for
auditing of apps), and there are probably going to be cases where
a developer will want to use a foreground service in the full
version of their app but not as an instant app.

Bug: 72116995
Test: atest CtsAppTestCases
Change-Id: I883c9515c307ed8e39f0bf888c4045944c8183ac