[tf.data] Raise an InvalidArgumentError if the argument to Dataset.list_files() matches no files.

The main effect of this change is to change a late `OutOfRangeError` at iteration time into an earlier `InvalidArgumentError` at initialization time, which will improve error reporting in Eager mode and high-level APIs that control the training loop (Estimator, Keras, etc.). This change will break some advanced uses that concatenate many potentially empty file listings, but it is possible to work around this using `tf.data.Dataset.from_tensor_slices(tf.matching_files(file_pattern))`. We expect that the improved productivity from an earlier, more actionable error message will outweigh the inconvenience of modifying a small number of existing programs.

PiperOrigin-RevId: 207344116