Implement a custom function to calculate the Mean Absolute Percentage Error (MAPE) without using external machine learning libraries.
Use the formula mean(abs((actual - predicted) / actual)) * 100. Define the function as calculate_mape(actual, predicted), where both inputs are non-empty lists of numbers with equal lengths. Raise ValueError if a list is empty, lengths differ, or any actual value is zero.
def calculate_mape(actual, predicted):