Fix 401 response from ResourceController

* Add missing s on %s to make sure we return realm value.
* Add error and error_description to WWW-Authenticate header
per http://tools.ietf.org/html/rfc6750#section-3
* Remove wrong error_uri parameter return because of extra params passed
  to setError()
Merge pull request #142 from rjmackay/develop

Fix 401 response from ResourceController