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[skip-changelog] refactor: Made `command` functions to access PackageManager unavailable from public API (#2335)

* Let instance commands require an *rpc.Instance

Removed the shorthand of the InstanceCommand interface.
This makes the API more coherent among the `commands` instance handling.

* Moved 'command' package's instances functions inside internal package

This change highlights the incorrect PackageManager access in 'cli'
package. Now those are errors:

package github.com/arduino/arduino-cli
	imports github.com/arduino/arduino-cli/internal/cli
	imports github.com/arduino/arduino-cli/internal/cli/board
	imports github.com/arduino/arduino-cli/internal/cli/arguments
	internal/cli/arguments/completion.go:23:2: use of internal package github.com/arduino/arduino-cli/commands/internal/instances not allowed
package github.com/arduino/arduino-cli
	imports github.com/arduino/arduino-cli/internal/cli
	imports github.com/arduino/arduino-cli/internal/cli/board
	imports github.com/arduino/arduino-cli/internal/cli/arguments
	internal/cli/arguments/port.go:24:2: use of internal package github.com/arduino/arduino-cli/commands/internal/instances not allowed

* Made CoreInstance private

* Inlined coreInstancesContainer singleton methods

* Removed all wrong accesses to package Explorer

* Replaced DiscoveryManager.Watch with equivalent gRPC BoardListWatch call

* Replaced direct access to PackageManager to get discovery protocols

Previously the function GetConnectedBoards() counter-intuitively
returned a list of port address. Now it has been reneamed
GetAvailablePorts() and returns the full Port object that is mapped into
an array of Addresses or into an array of Prorocols based on the
auto-completion request.