`dapr invokeGet/invokePost` cannot be used when `daprd` used directly

## Repro Steps

1. Start an application
1. Start `daprd` for the application with appropriate arguments (e.g. `daprd --app-id --app-port ...`)
1. Run `dapr invoke --app-id --method --payload `

## Expected Behavior

The application endpoint is invoked and its response is returned to the console.

## Actual Behavior

The invocation will fail with the error:

```
Error invoking app : App ID not found.
```

## Discussion

This appears due to the fact that `dapr ` builds the Dapr endpoint for the application using a list of running Dapr applications, but only applications started using `dapr run ...` are included in that list; applications using Dapr via `daprd` directly are not included (see #220). There are scenarios where applications must be started alongside `daprd` rather than via `dapr run ...` (such as debugging of .NET Core applications), where it would be useful for users/tools to be able to invoke the application via the Dapr CLI rather than another tool and hand-crafting the complete endpoint.