Improve getPropConfigs and error logging.

This CL improves getPropConfigs to return INVALID_ARG when one of
the prop ID is not found according to the AIDL interface definition.

This CL also improves logging to print out exception code.

This CL also updates service manifest to be consistent with
https://source.android.com/devices/architecture/aidl/aidl-hals

Test: atest DefaultVehicleHalTest
Bug: 219782023, 219612366
Change-Id: I96b091c5cf6641ab7d1df5c644bde7491cbaa5e7