Inform Assistant when security exception occurs during onDetected

By the behavior, the interactor of assistant needs to call the
startRecognition function again after hotword event is triggered.
Otherwise it will not receive the result of detection.

Currently when security exception occurs during onDetected, we
won't inform the interactor of assistant about the hotword event.
It will cause the interactor still to wait the hotword event and
doesn't call startRecognition function again.

After syncing with assistant, we should use onError() callback
to inform interactor.

The behavior of onError() in the interactor:
For both of DSP and Software, assistant will call startRecognition
function.

The behavior of onRejected() in the interactor:
Only for DSP, assistant will call startRecognition function.
For Software, assistant doesn't expect to get onRejected()

Bug: 230738063
Change-Id: Ideb210d4364d4c48c747d66268d77a2f5b017186
Test: atest HotwordDetectionServiceBasicTest