improve error message for identifier validation

[colin-axner]

Summary

• identifier validation does not specify which identifer is empty

 query packet commitments: rpc error: code = InvalidArgument desc = rpc error: code = InvalidArgument desc = identifier cannot be blank: invalid identifier: invalid request 

• if proof height is > client state height, indicate client should be updated

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[colin-axner]

I'm pretty sure this means a relayer got beat to the relaying process:

error: Caught error:  Error when broadcasting tx FA98E443F1D4CAEE7EFF6B4FF6CEA08329441860B0CA8BA0E42A22CBB842B625 at height 737. Code: 13; Raw log: failed to execute message; message index: 0: acknowledge packet verification failed: commitment bytes are not equal: got ([153 160 69 75 247 52 141 25 227 227 230 148 0 25 2 166 1 226 192 199 63 195 241 114 137 177 88 6 77 114 98 6]), expected ([]): invalid packet

• The error message should indicate such

[colin-axner]

• Already relayed packets should have well known associated error codes so relayers don't retry the transaction. See comment

[colin-axner]

To complete this issue we need to improve the error message on the identifier validation. Two solutions exist:

• update all calls to ClientIdentifierValidator, ConnectionIdentifierValidator, ChannelIdentifierValidator to wrap with the type of identifier which failed validation, like so
• Wrap the error from within ClientIdentifierValidator etc. We still likely need to wrap from the caller, for example when validating counterparty identifiers

It probably makes sense to wrap from within the ClientIdentifierValidator, and do additional wrapping whenever the identifier is also something more naunced like a counterparty client ID or a counterparty connection ID