Better exception handling in StdioClientTransport (#444)

# Better exception handling in StdioClientTransport

Refactor `McpException` for improved handling with convenience
constructors and enhanced exception wrapping logic in
`StdioClientTransport`. Update tests to use `kotest` matchers and add
JUnit parameterized tests for exception handling.

## Motivation and Context
#442 follow up 

## How Has This Been Tested?
<!-- Have you tested this in a real application? Which scenarios were
tested? -->

## Breaking Changes
<!-- Will users need to update their code or configurations? -->

## Types of changes
<!-- What types of changes does your code introduce? Put an `x` in all
the boxes that apply: -->
- [x] Bug fix (non-breaking change which fixes an issue)
- [ ] New feature (non-breaking change which adds functionality)
- [ ] Breaking change (fix or feature that would cause existing
functionality to change)
- [ ] Documentation update

## Checklist
<!-- Go over all the following points, and put an `x` in all the boxes
that apply. -->
- [ ] I have read the [MCP
Documentation](https://modelcontextprotocol.io)
- [ ] My code follows the repository's style guidelines
- [ ] New and existing tests pass locally
- [ ] I have added appropriate error handling
- [ ] I have added or updated documentation as needed

## Additional context
<!-- Add any other context, implementation notes, or design decisions
-->

kotlin-sdk-test/src/jvmTest/kotlin/io/modelcontextprotocol/kotlin/sdk/integration/kotlin/AbstractPromptIntegrationTest.kt

@@ -1,5 +1,7 @@
 package io.modelcontextprotocol.kotlin.sdk.integration.kotlin
 
+import io.kotest.assertions.withClue
+import io.kotest.matchers.string.shouldContain
 import io.modelcontextprotocol.kotlin.sdk.types.GetPromptRequest
 import io.modelcontextprotocol.kotlin.sdk.types.GetPromptRequestParams
 import io.modelcontextprotocol.kotlin.sdk.types.GetPromptResult
@@ -391,7 +393,9 @@ abstract class AbstractPromptIntegrationTest : KotlinTestBase() {
             }
         }
 
-        assertTrue(exception.message.contains("requiredArg2"), "Exception should mention the missing argument")
+        withClue("Exception should mention the missing argument") {
+            exception.message shouldContain "requiredArg2"
+        }
 
         // test with no args
         val exception2 = assertThrows<McpException> {
@@ -407,7 +411,9 @@ abstract class AbstractPromptIntegrationTest : KotlinTestBase() {
             }
         }
 
-        assertTrue(exception2.message.contains("requiredArg"), "Exception should mention a missing required argument")
+        withClue("Exception should mention a missing required argument") {
+            exception2.message shouldContain "requiredArg"
+        }
 
         // test with all required args
         val result = client.getPrompt(