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Handle HCI errors without crashing

Andreas Kempe requested to merge handle-hci-errors-without-crashing into master

Issues reported by Andrey Kosachenko have shown that we cannot expect blued to not receive HCI errors from the hardware when issuing commands. See issue report: #1 (closed)

This MR includes changes that move HCI message construction from btdevice into hci_socket and adds error handling for HCI errors from the controller.

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