Support handling decoding errors

[keirlawson]

Right now the FrameDecoder typeclass seems to assume that decoding will always be successful, it would be great to have a way to raise errors in cases where it is not.

[iRevive]

I've experimented with decode(bytes: Array[Byte]): Either[E, A] a while ago. The main concern is the throughput of the system. The performance degradation with an either-based decoder was ~15%.
I will do a few more measurements again and consider further steps.