actions/policy: improve errors

actions/policy: improve errors

ErrMissingPolicyMetadata:
	Include the mount, directory path, and metadata path.  Also move
	the explanation into actions/ since it doesn't refer to any CLI
	command.

ErrPolicyMetadataMismatch:
	Include a lot more information.  Also start checking for
	consistency of the policy key descriptors, not just the
	encryption options.  Add a test for this.

ErrDifferentFilesystem:
	Include the mountpoints.

ErrOnlyProtector:
	Clarify the message and include the protector descriptor.

ErrAlreadyProtected:
ErrNotProtected:
	Include the policy and protector descriptors.

ErrAccessDeniedPossiblyV2:
	Make it slightly clearer what failed.  Also move the explanation
	into actions/ since it doesn't refer to any CLI command.