Provide a better way for programmatically handling errors raised while encoding/decoding data

Beam runners use coders in various stages of a pipeline to encode/decode data. Coders are executed directly by the runner of a pipeline and user do not have control over exceptions raised during encoding/decoding (could be either due to malformed/corrupted data provided by users or intermediate malformed/corrupted data generated during the system execution).

Currently users can rely on runner-specific worker logging to detect the error and update the pipeline but it would be better if we can provide a way to programmatically handle these errors.

Imported from Jira [BEAM-4244](https://issues.apache.org/jira/browse/BEAM-4244). Original Jira may contain additional context.
Reported by: chamikara.