Raise InvalidEventException when RestApiId/ApiId is not resolved to a string

[aahung]

… string

Issue #, if available:

Description of changes:

Description of how you validated changes:

Checklist:

• Add/update tests using:
  • Correct values
  • Bad/wrong values (None, empty, wrong type, length, etc.)
  • Intrinsic Functions
• make pr passes
• Update documentation
• Verify transformed template deploys and application functions as expected

Examples?

Please reach out in the comments, if you want to add an example. Examples will be
added to sam init through https://github.com/awslabs/aws-sam-cli-app-templates/

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

[codecov-commenter]

Codecov Report

Merging #2213 (1b389dd) into develop (e7a1496) will increase coverage by 0.83%.
The diff coverage is 98.37%.

@@             Coverage Diff             @@
##           develop    #2213      +/-   ##
===========================================
+ Coverage    93.58%   94.42%   +0.83%     
===========================================
  Files           90       95       +5     
  Lines         6124     6561     +437     
  Branches      1260     1325      +65     
===========================================
+ Hits          5731     6195     +464     
+ Misses         183      170      -13     
+ Partials       210      196      -14     

Impacted Files	Coverage Δ
samtranslator/model/lambda_.py	93.10% <ø> (ø)
samtranslator/plugins/globals/globals.py	99.05% <ø> (ø)
samtranslator/translator/logical_id_generator.py	90.90% <ø> (ø)
samtranslator/region_configuration.py	77.77% <63.63%> (-22.23%)	⬇️
samtranslator/translator/translator.py	97.26% <90.00%> (+0.07%)	⬆️
samtranslator/swagger/swagger.py	94.00% <92.68%> (+0.63%)	⬆️
samtranslator/__init__.py	100.00% <100.00%> (ø)
samtranslator/feature_toggle/dialup.py	100.00% <100.00%> (ø)
samtranslator/feature_toggle/feature_toggle.py	100.00% <100.00%> (+12.16%)	⬆️
samtranslator/intrinsics/actions.py	98.75% <100.00%> (+0.03%)	⬆️
... and 35 more

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