Change the service API to match Xiaomi Miio and add segment cleaning

[halfbakery]

This PR improves the following areas:

• the Xiaomi Miio integration changed the service calls xiaomi_clean_zone to vacuum_clean_zone and xiaomi_clean_point to vacuum_goto a year ago. Introducing the new calls, but keeping the old ones for compatibility (can be removed later)
• adding a services.yaml describing the supported service calls
• adding a new call vacuum_clean_segment for segment (room) cleaning

All of them are tested with my Viomi V2 Pro.