fix: improve streamable HTTP session reinitialization (#459)

Implements the MCP spec guidelines for streamable HTTP (re)initialization:
- Server MAY terminate session and MUST respond with HTTP 404 for terminated session IDs
- Client MUST start new session when receiving HTTP 404 for requests with session ID

Changes:
- Replace generic McpError with McpTransportException for transport-layer errors
- Only throw McpTransportSessionNotFoundException when session ID is present in request
  (per spec: 404 with session ID means session terminated, without means general error)
- Enhance error messages with more context (status codes, response events)
- Use RuntimeException for non-transport specific SSE endpoint failures
- Ensure consistent error handling across HTTP client transports

- Improve error handling with standard Java exceptions.
  Replace generic McpError with appropriate standard exceptions:
  - Use IllegalArgumentException for invalid input parameters
  - Use IllegalStateException for state-related issues
  - Use RuntimeException wrapper for initialization failures
  - Use McpError.builder() with proper error codes for protocol errors

Fixes #459

Signed-off-by: Christian Tzolov <christian.tzolov@broadcom.com>

mcp-test/src/main/java/io/modelcontextprotocol/client/AbstractMcpAsyncClientTests.java

@@ -486,7 +486,8 @@ public abstract class AbstractMcpAsyncClientTests {
 	void testAddRootWithNullValue() {
 		withClient(createMcpTransport(), mcpAsyncClient -> {
 			StepVerifier.create(mcpAsyncClient.addRoot(null))
-				.consumeErrorWith(e -> assertThat(e).isInstanceOf(McpError.class).hasMessage("Root must not be null"))
+				.consumeErrorWith(e -> assertThat(e).isInstanceOf(IllegalArgumentException.class)
+					.hasMessage("Root must not be null"))
 				.verify();
 		});
 	}
@@ -505,7 +506,7 @@ public abstract class AbstractMcpAsyncClientTests {
 	void testRemoveNonExistentRoot() {
 		withClient(createMcpTransport(), mcpAsyncClient -> {
 			StepVerifier.create(mcpAsyncClient.removeRoot("nonexistent-uri"))
-				.consumeErrorWith(e -> assertThat(e).isInstanceOf(McpError.class)
+				.consumeErrorWith(e -> assertThat(e).isInstanceOf(IllegalStateException.class)
 					.hasMessage("Root with uri 'nonexistent-uri' not found"))
 				.verify();
 		});