RSDK-2758 Consistent error handling & exception scheme

[zaporter-work]

Ticket: https://viam.atlassian.net/browse/RSDK-2758

This provides a base ViamException class and a few derived classes. The purpose of these exceptions are threefold:

• To provide a base to build on if we wish to pursue more advanced error creation in the future.
• To help users easily understand if an error came from our code or not.
• To facilitate error-catching and recovery behavior (ex: a DuplicateResourceException might be handled differently than a PermissionDeniedException)

This PR also creates ViamErrorCodes which are 1 to 1 compatible with the exceptions and can be used interchangeably (though conversion will lose the message inside the exception).

While working on this, I experimented with three main design options:
1)

   template <typename... Args>
    ViamException(Args const&... what)
        : std::runtime_error("ViamException: " + concat_varargs(what...)){};

I really liked this approach because it let me write very clean constructor calls. However this produced awful error messages (SFINAE was overkill for concat_varargs), and it required almost everything to live in the header files.

#define THROW_EXCEPTION(e_type, msg) throw e_type(__FILE__, __LINE__, __func__, msg)

// ex: THROW_EXCEPTION(DuplicateResourceException, "can't have two camera servers ...");

I really liked this approach because it gave very nice error messages; however, I am hesitant to suggest that we use macros. (we might also need to do some macro magic so that the full path of __FILE__ doesn't end up in the binary)

The simple

ViamException(const std::string& msg) : std::runtime_exception("ViamException: " + msg) {}

Ultimately, I landed on number 3 because number 1 didn't end up providing as many benefits as I wanted and we can do number 2 later if we want to give more detailed error messages.

Important Notes:

1. Some of the exception types are not being used right now. I still created them because they may be useful in the future (and because they line up roughly with the python sdk)
2. Conversion to and from error codes is a bit awkward. Wasn't sure about the best way to do this.

[zaporter-work]

Does this do something that I don't understand?

[stuqdog]

Probably not! Looks like the try/catch is pretty much meaningless there, and catching a str is just an artifact of poor initial design decisions. Makes sense to remove.

[zaporter-work]

Ticket was marked as completed

[stuqdog]

This is great, thanks for getting this done! LGTM, % questions/nits.

[zaporter-work]

Closing due to 2 months of inactivity. Happy to talk about or reopen this if there is renewed interest.