Throw exception if IntentFilter is not valid

If the IntentFilter used with BroadcastDispatcher doesn't have at least
one action or has other information that's not actions or categories,
throw an exception when device is trying to register

Bug: 134566046
Test: atest BroadcastDispatcherTest
Change-Id: I6be844a1650f1a6d4d6ff32ddaaa32ca7832c43b