channel: Implement the  'channel_send_call' function

This function is used to send RPC calls to clients. In contrast to
`channel_send_event`, this function will block until the client sends a
response(But it will continue processing requests from that client).

The RPC call stack has a maximum depth of 20.
channel/msgpack_rpc: Refactor to better split functions across modules

Move validation/conversion functions and to msgpack_rpc_helpers to separate
those from the functions that are used from the channel module
channel/msgpack_rpc: Refactor API dispatching

This is how API dispatching worked before this commit:

- The generated `msgpack_rpc_dispatch` function receives a the `msgpack_packer`
  argument.
- The response is incrementally built while validating/calling the API.
- Return values/errors are also packed into the `msgpack_packer` while the
  final response is being calculated.

Now the `msgpack_packer` argument is no longer provided, and the
`msgpack_rpc_dispatch` function returns `Object`/`Error` values to
`msgpack_rpc_call`, which will use those values to build the response in a
single pass.

This was done because the new `channel_send_call` function created the
possibility of having recursive API invocations, and this wasn't possible when
sharing a single `msgpack_sbuffer` across call frames(it was shared implicitly
through the `msgpack_packer` instance).

Since we only start to build the response when the necessary information has
been computed, it's now safe to share a single `msgpack_sbuffer` instance
across all channels and API invocations.

Some other changes also had to be performed:

- Handling of the metadata discover was moved to `msgpack_rpc_call`
- Expose more types as subtypes of `Object`, this was required to forward the
  return value from `msgpack_rpc_dispatch` to `msgpack_rpc_call`
- Added more helper macros for casting API types to `Object`
  any