audio: cleanup audio filter format negotiation

The algorithm and functionality is the same, but the code becomes much
simpler and easier to follow.

The assumption that there is only 1 conversion filter (lavrresample)
helps with the simplification, but the main change is to use the same
code for format/channels/rate. Get rid of the different AF_CONTROL_SET_*
controls, and change the af->data parameters directly. (af->data is
badly named, but essentially is a placeholder for the output format.)

Also, instead of trying to use the af_reinit() loop to init inserted
conversion filters or filters with changed output formats, do it inline,
and move the common code to a filter_reinit() function. This gets rid of
the awful retry variable.

In general, this should not change any runtime behavior.

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