Move validatePromise(...) to ChannelHandlerInvokerUtil. Related to [#2398]

Motivation:
Once a user implement a custom ChannelHandlerInvoker it is needed to validate the ChannelPromise. We should expose a utility method for this.

Modifications:
Move validatePromise(...) from DefaultChannelHandlerInvoker to ChannelHandlerInvokerUtil and make it public.

Result:
User is able to reuse code