[VTA] Improved RPC for VTA (#2043)

* assign default port to 9091 as the documented

* bug fix in printing RuntimeError and add an additional search path

* pretty print rebuild runtime args

* PRC => RPC

* replace vta_config.json file path

`build/vta_config.json` => `vta/config/vta_config.json`

* undo the change in adding lib_search path

* search vta_config.py file in vta/config

* avoid exposing driver function calls, and use predefined `VTAMemGetPhyAddr` instead.

* rename `tests/hardware/pynq` => `metal_test`

* set config path back to `build` dir