fix(servicediscovery): allow to register multiple instances on a service

[jogold]

The methods registerNonIpInstance, registerIpInstance and registerCnameInstance had hard-coded ids, resulting in Error: There is already a Construct with name 'CnameInstance' in Service [Service] errors when trying to register multiple instances on a service.

Added id parameter to the registerXxx methods.

Also added a test with multiple instances registered on the same service.

---

Pull Request Checklist

• Testing
  • Unit test added (prefer not to modify an existing test, otherwise, it's probably a breaking change)
  • CLI change?: coordinate update of integration tests with team
  • cdk-init template change?: coordinated update of integration tests with team
• Docs
  • jsdocs: All public APIs documented
  • README: README and/or documentation topic updated
• Title and Description
  • Change type: title prefixed with fix, feat will appear in changelog
  • Title: use lower-case and doesn't end with a period
  • Breaking?: last paragraph: "BREAKING CHANGE: <describe what changed + link for details>"
  • Issues: Indicate issues fixed via: "Fixes #xxx" or "Closes #xxx"
• Sensitive Modules (requires 2 PR approvers)
  • IAM Policy Document (in @aws-cdk/aws-iam)
  • EC2 Security Groups and ACLs (in @aws-cdk/aws-ec2)
  • Grant APIs (only if not based on official documentation with a reference)

---

By submitting this pull request, I confirm that my contribution is made under the terms of the Apache-2.0 license.