Add public API public API that returns error and does what OnMessageReceived

[yunhanw-google]

This still seems like a weird thing to do. We're bypassing some important parts of the normal message-processing codepath by doing things this way. I don't want to block on this, so followup OK, but maybe we should have a public API that returns error that does what OnMessageReceived does right now. OnMessageReceived would call it, and we could call it from here....

Originally posted by @bzbarsky-apple in https://github.com/project-chip/connectedhomeip/pull/5198#discussion_r595601574

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