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BP-29 (task 4): use metadata service uri for constructing registration manager and ledger manager factory

Descriptions of the changes in this PR:

The main changes are at two places:

- Deprecating using ServerConfiguration#getRegistrationManagerClass(). Changed Bookie.java to use MetadataBookieDriver to getRegistrationManager().
- Use MetadataBookieDriver/MetadataClientDriver to retrieve ledger manager factory in Bookie.java / BookKeeper.java

The other changes are in-place changes for replacing using registration manager to using metadata drivers.

- provides a few util functions in `MetadataDrivers` to run `functions` with registration manager / ledger manager factory

Master Issue: #1123

Author: Sijie Guo <sijie@apache.org>

Reviewers: Jia Zhai <None>

This closes #1251 from sijie/use_metadata_service_uri_in_registration_manager

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