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xds: decouple xds channel creation and bootstrapping (#7764)
This change fixes the problem of mismatched lifecycle of the xDS channel and XdsClient. Reading the bootstrap will determine and create the ChannelCredentials for each specified xDS server. An exception will be thrown if any xDS server specifies some channel_creds type that is not supported, not just for the first server (which is the only one to be used now). Reading the bootstrap also determines the xDS protocol version. The xDS channel will have the same lifecycle as the XdsClient instance: an xDS channel is created at the first call of getObject() and is shut down at the same time as the XdsClient is shutting down. A new xDS channel will be created when the ObjectPool creates a new XdsClient instance.
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