Add exception handling to single message transforms in Python SDK

Add methods to python SDK Map and FlatMap that allow users to specify expected exceptions and tuple tags to associate with the with collections of the successfully and unsuccessfully processed elements.

See discussion on dev list:

[https://lists.apache.org/thread.html/936ed2a5f2c01be066fd903abf70130625e0b8cf4028c11b89b8b23f@%3Cdev.beam.apache.org%3E](https://lists.apache.org/thread.html/936ed2a5f2c01be066fd903abf70130625e0b8cf4028c11b89b8b23f@%3Cdev.beam.apache.org%3E)

Imported from Jira [BEAM-5639](https://issues.apache.org/jira/browse/BEAM-5639). Original Jira may contain additional context.
Reported by: jeff.klukas@gmail.com.

Start with the linked dev-list discussion and the imported Jira issue for the intended API and behavior, then locate the Python SDK implementations of Map and FlatMap. The work is done when both transforms accept expected exceptions and tuple tags for successfully and unsuccessfully processed elements, with behavior covered by appropriate tests.

Written by the indexing model from the issue text.