[storage] Prevent panics from user inputs to pub functions

[danlaine]

This PR replaces panics and assertions with error return values. This allows the caller to decide how to handle the error.

There are still some pub functions in the commonware-storage that may panic, such as those on commonware-storage::mmr::BitMap. (The underlying bitmap panics when given invalid values, so we'd have to change that in order to return errors in mmr::BitMap. Probably not worth it, at least right now.)

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[codecov]

Codecov Report

❌ Patch coverage is 94.83871% with 16 lines in your changes missing coverage. Please review.
✅ Project coverage is 92.16%. Comparing base (9c7abdc) to head (cd9a635).

Files with missing lines	Patch %	Lines
storage/src/adb/current/unordered.rs	72.72%	3 Missing ⚠️
storage/src/mmr/grafting.rs	82.35%	3 Missing ⚠️
storage/src/mmr/mem.rs	90.00%	3 Missing ⚠️
storage/src/mmr/proof.rs	25.00%	3 Missing ⚠️
storage/src/adb/any/variable/mod.rs	97.05%	2 Missing ⚠️
storage/src/adb/immutable/mod.rs	98.41%	1 Missing ⚠️
storage/src/adb/keyless.rs	98.11%	1 Missing ⚠️

@@            Coverage Diff             @@
##             main    #1847      +/-   ##
==========================================
+ Coverage   92.10%   92.16%   +0.05%     
==========================================
  Files         307      307              
  Lines       79648    79879     +231     
==========================================
+ Hits        73362    73617     +255     
+ Misses       6286     6262      -24     

Files with missing lines	Coverage Δ
storage/src/adb/mod.rs	95.45% <ø> (ø)
storage/src/mmr/bitmap.rs	95.48% <100.00%> (+0.51%)	⬆️
storage/src/adb/immutable/mod.rs	97.16% <98.41%> (+1.57%)	⬆️
storage/src/adb/keyless.rs	94.57% <98.11%> (+0.20%)	⬆️
storage/src/adb/any/variable/mod.rs	97.15% <97.05%> (+1.33%)	⬆️
storage/src/adb/current/unordered.rs	92.57% <72.72%> (ø)
storage/src/mmr/grafting.rs	86.32% <82.35%> (+0.07%)	⬆️
storage/src/mmr/mem.rs	91.98% <90.00%> (+0.13%)	⬆️
storage/src/mmr/proof.rs	94.84% <25.00%> (-0.13%)	⬇️

... and 1 file with indirect coverage changes

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