Improve Exception handling in sonication control

Currently, the io module (LIFUInterface, LIFUTXDevice, etc) use a number of try... except cases to catch both UART errors and log other exceptions. There are a couple of issues with the way this is handled:

1. We are raising ValueErrors when the communications are failing. This should probably be something more specific if we would like to catch it and print a more detailed Exception message
2. We are checking for UART connectivity in each method using a very similar snippet of code - this should probably me a method.
3. We are catching all other Exceptions, and logging the error before re-raising it. I think that this is unnecessary, as we can configure the logger to capture the stdout output from unhandled exceptions

I'll work on tidying this up.