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API Error Handling 404/400s; no SQL spitout (#314)

* new basic error handler using express pattern

* working course missing 404

* cleaned up example of get handler and error handler on getCourse

* APIError constructor takes object param for clarity

* comments, moved 404 handle to model where it makes more sense

* method for throwing and translating SQL errors to APIErrors

* error numbers better defined and more unique, helper for sql errors

* controllers all updated with new getResponseHandler and error handling

* user 404s added

* amended some tests, added a bunch of error handling, lots of TODOs added

* truncated stack traces because they most contain node and express stuff

* authentication error helpers updated to throw APIErrors

* question and review errors with basic 404

* review test update and small comment changes

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