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Draft: Module error handle

Wei Wu requested to merge module_error_handle into master

With this PR, all virtual methods except cleanup of the Module class return bool instead of void. A module can be in hard error or soft error mode. In the soft error mode, if false is returned, the runtime will remove the module; while in the hard error mode, false will lead to an assertion. Applications can use module config API to configure a module into hard or soft error mode.

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