fix: throw an error when there are no controllers found

[simllll]

With the ts4.8 issue it turns out tsoa does not throw any kind of error if there are zero controllers found. Which makes it even a bit hard to find the issue in first place. To prevent this in the future I added a check that throws an Error if there are no controllers discovered.

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• Have you followed the guidelines in our Contributing document?
• Have you checked to ensure there aren't other open Pull Requests for the same update/change?
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Closing issues

Put closes #XXXX (where XXXX is the issue number) in your comment to auto-close the issue that your PR fixes.

potentially helps e.g. for #1301

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Potential Problems With The Approach

In my opinion it doesn't make sense to use tsoa without any controllers, but maybe I'm missing some special use cases?

Test plan

the added test catches the expected error when there are no controllers

[WoH]

TypeStrong/ts-node#1839

[simllll]

quite some dependency updates needed to get this running again.

• dropped node 12 from test matrix (as it does not work with node 12 anymore)
• upgraded all deps (except chalk because it's esm only in version 5) to latest

should we maybe move that to a seperat PR?

[WoH]

Don't think this is only related to win (I hope)
https://github.com/lukeautry/tsoa/blob/master/packages/cli/src/metadataGeneration/metadataGenerator.ts#L41

[simllll]

It seems though it's only related to windows, it finishes successfully on linux and mac on the github actions (locally also on linux, tests are running fine).

I guess it has something todo with the paths, as on windows the allFiles array is empty:

importClassesFromDirectories [ 'fixtures/inversify-cpg/*Controller.ts' ] [ '.ts' ]
allFiles []

issue found and fixed:

[simllll]

Still fails on windows somehow with superagent.

tsoa-tests: err Error: read ECONNRESET
tsoa-tests:     at TCP.onStreamRead (node:internal/stream_base_commons:217:20) {
tsoa-tests:   errno: -4077,
tsoa-tests:   code: 'ECONNRESET',
tsoa-tests:   syscall: 'read',
tsoa-tests:   response: undefined
tsoa-tests: }

first was thinking this could be related ladjs/supertest#617 but there is actually no http2.. kinda hard to figure it out on a non-windows env...
maybe related ladjs/supertest#709