[GAIA Compiler] Refine error handling in antlr grammar

[shirly121]

What do these changes do?

1. fix bugs when handling exceptions from antlr, to print more meaningful messages (including position with the error text), i.e.
   g.Vd -> syntax error occurs at [line: 1, column: 3]; msg is: [token recognition error at: 'd']
   g.V().order().by('a', 'b') -> syntax error occurs at [line: 1, column: 22]; msg is: [mismatched input '"b"' expecting {'asc', 'Order.asc', 'desc', 'Order.desc', 'shuffle', 'Order.shuffle'}]
2. throw exceptions when composition of operators is invalid, i.e.
   g.V().subgraph('X') -> edge induced subgraph should follow an edge expand operator [inE, outE, bothE]
   g.V().endV() -> endV should follow a path expand operator [out('$1..$2'), in('$1..$2'), both('$1..$2')]
3. refine parameters in hasId which should be a non-empty integer list

Related issue number

Related Issue: #2531