Quit on audio configuration failure

When audio capture fails on the device, scrcpy continues mirroring the
video stream. This allows to enable audio by default only when
supported.

However, if an audio configuration occurs (for example the user
explicitly selected an unknown audio encoder), this must be treated as
an error and scrcpy must exit.

PR #3757 <https://github.com/Genymobile/scrcpy/pull/3757>