backend/session: operate on wlr_device

Instead of operating on FDs in {open,close}_device, operate on
wlr_devices. This avoids the device lookup in wlr_session and allows
callers to have access to wlr_device fields.

For now, we use it to remove wlr_session_signal_add and replace it with
a more idiomatic wlr_session.events.change field. In the future, other
events will be added.

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