[RSDK-9251] - Add options helpers to stream client

[seanavery]

Description

This PR adds a few helpers to interact with dynamic resolution stream server endpoints.

Tests

Added success and failure test cases for the new stream interface methods.

[seanavery]

It looks like the npm check is returning 1 in CI... Would it be ok to bump these dependencies?

> @viamrobotics/[email protected] check
> npm-check --production --ignore=@bufbuild/protobuf

- Checking for unused packages. --skip-unused if you don't want this.
- Checking npm registries for updated packages.

@connectrpc/connect       😎  MAJOR UP  Major update available. https://github.com/connectrpc/connect-es#readme
                                       npm install @connectrpc/[email protected] --save to go from 1.6.1 to 2.0.0

@connectrpc/connect-web   😎  MAJOR UP  Major update available. https://github.com/connectrpc/connect-es#readme
                                       npm install @connectrpc/[email protected] --save to go from 1.6.1 to 2.0.0

Use npm-check -u for interactive update.
make: *** [Makefile:34: lint] Error 1