Handle ProviderInvalidQueryError for every query()

[totycro]

This is necessary for a more consistent error handling, where providers can raise ProviderInvalidQueryError for any query() call and the API will correspondingly return a code in the 4xx range with an error message.

Currently for some functions such as get_collection_items, a ProviderInvalidQueryError will only be handled as ProviderGenericError (its superclass), which leads to a 500 error code and no specific error message.

(as per https://github.com/geopython/pygeoapi/blob/master/CONTRIBUTING.md#contributions-and-licensing)

• I'd like to contribute [feature X|bugfix Y|docs|something else] to pygeoapi. I confirm that my contributions to pygeoapi will be compatible with the pygeoapi license guidelines at the time of contribution.
• I have already previously agreed to the pygeoapi Contributions and Licensing Guidelines