Implement error handling for invalid event/queue usage

[EwanC]

Implement the erroneous wait behaviour defined by #78

This includes:

• Throwing an error on handler::depends_on() when an event is passed that doesn't correspond to a node (related to Implement creating an edge with handler::depends_on() #89)
• Throwing an error when waiting on an event returned from a queue submission recorded to a graph.
• calling queue::wait() on a queue in the recording state

[EwanC]

Should also include the changes from #132 that specify an error on quering an event returned fro queue recording for profiling info or command status