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Follow up of PR https://github.com/tendermint/tendermint/pull/724 For https://github.com/tendermint/tendermint/issues/708 Reported initially in #708, this bug was reconfirmed by the fuzzer. This fix ensures that: * if the user doesn't pass in `"id"` that we send them back a message in an error telling them to send `"id"`. Previously we let the handler return a 200 with nothing. * passing in nil `params` doesn't crash * not passing in `params` doesn't crash * passing in non-JSON parseable data to `params` doesn't crash