fixed <EC$> assertions: specifying empty command strings was undefined

* passing an empty command string down to the shell would always do nothing,
  so it doesn't make sense to support that.
* for the time being, we generate a proper error
* in the future, it might make sense to define some special behavior like repeating
  the last command - but EC does not currently save the command line anywhere.
* The generated documentation is currently ugly (FIXME).
  mandatory parameters are not properly detected by tedoc and we cannot keep apart
  Q-Registers from mandatory parameters either.
  Also, we should allow <param> markup in command summaries.

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