Establish a style for error handling in C

[andresuribe87]

Some ideas include:

• Error Codes
• Error Structs

The latter possibly makes more sense. And because memory needs to be managed, this goes hand in hand with establishing a rule for this. One possible pattern is: "Rust allocates, and rust allows deallocation". That pattern is displayed in https://jakegoulding.com/rust-ffi-omnibus/objects/

          at some point we should introduce better error handling over the C FFI, but it's not necessary at this moment

Originally posted by @KendallWeihe in #390 (comment)