Implements Better Error Messages from the HAL (#172)

* Makes the HAL provide a better error message for certain things.

* Makes Java error messages better

* Updates C++ errors.

* Moves handles header folder to HAL directory

wpilibj/src/athena/cpp/lib/RelayJNI.cpp

@@ -12,7 +12,9 @@
 #include "edu_wpi_first_wpilibj_hal_RelayJNI.h"
 
 #include "HAL/Relay.h"
+#include "HAL/Ports.h"
 #include "HALUtil.h"
+#include "HAL/handles/HandlesInternal.h"
 
 // set the logging level
 TLogLevel relayJNILogLevel = logWARNING;
@@ -39,6 +41,8 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_initializeRelayPo
   HAL_RelayHandle handle = HAL_InitializeRelayPort((HAL_PortHandle)id, (uint8_t) fwd, &status);
   RELAYJNI_LOG(logDEBUG) << "Status = " << status;
   RELAYJNI_LOG(logDEBUG) << "Relay Handle = " << handle;
+  CheckStatusRange(env, 0, HAL_GetNumRelayPins(), 
+                   hal::getPortHandlePin((HAL_PortHandle)id), status);
   return (jint) handle;
 }