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Make use of ZAP's new support for specifying the parent of an endpoint.
Specific changes:
* Remove unused FIXED_NETWORKS bit from endpoint_config.h.
* Add FIXED_PARENT_ENDPOINTS which lists the parents of each fixed endpoint.
* Condition the fixed endpoint initialization code on FIXED_ENDPOINT_COUNT > 0
and remove some Darwin hackery that was needed because it was not thus
conditioned.
* Add initialization of parentEndpointId for fixed endpoints from
FIXED_PARENT_ENDPOINTS.
At the moment FIXED_PARENT_ENDPOINTS uses 0 to mean "no parent specified", but I
am hoping the ZAP folks will fix things so that we can just have
kInvalidEndpointId in there and the code in emberAfEndpointConfigure can become
simpler/smaller.
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