(PE-39411) Add descriptive error during infrastructure upgrade when rbac token is invalid

[jhbuchanan45]

Summary

The upgrade plan now checks if the token used to upgrade compilers is valid before beginning the upgrade process. This is accomplished using a validate_rbac_token task

Closes #340

Starting: plan peadm::upgrade
Starting: task peadm::validate_rbac_token on direct-blitz.delivery.puppetlabs.net
Finished: task peadm::validate_rbac_token with 1 failure in 6.3 sec
Finished: plan peadm::upgrade in 6.46 sec
Failed on direct-blitz.delivery.puppetlabs.net:
  The task failed with exit code 1
  403 puppetlabs.rbac/token-revoked: 
  Check your API token at /root/.puppetlabs/token. An alternate token file can be specified using the token_file param. 
  
  See https://www.puppet.com/docs/pe/latest/rbac_token_auth_intro for more details. 
Failed on 1 target: direct-blitz.delivery.puppetlabs.net

Checklist

• 🟢 Spec tests.
• 🟢 Acceptance tests.

Changes include test coverage?

• Yes
• Not needed

Have you updated the documentation?

• Yes, I've updated the appropriate docs
• Not needed