Support elicitation/create per MCP specification

## Motivation and Context

The MCP specification (2025-11-25) defines elicitation as a server-to-client
request mechanism that allows servers to request user input during tool execution:
https://modelcontextprotocol.io/specification/2025-11-25/client/elicitation

This aligns with the Python SDK, which also exposes separate methods for form and URL mode elicitation.
Three methods are added following the Python SDK's API design:

- `create_form_elicitation`: collects structured data via JSON Schema
- `create_url_elicitation`: directs users to external URLs for sensitive
  interactions (OAuth, credentials, etc.)
- `notify_elicitation_complete`: notifies the client that a URL mode
  interaction has completed

`URLElicitationRequiredError` (error code `-32042`) is defined as a subclass of `RequestHandlerError`
with its own `error_code` and `error_data` attributes. `JsonRpcHandler#handle_request_error` is
extended to check for these attributes so that MCP-specific error codes can be propagated without
embedding MCP knowledge in the generic JSON-RPC layer.

## How Has This Been Tested?

- Unit tests for `ServerSession` form/URL mode, capability checks, nil
  capabilities, notification, and `URLElicitationRequiredError`
- `ServerContext` delegation tests for all three elicitation methods
- `JsonRpcHandler` tests for custom error code and fallback behavior
- `Methods` capability test for `NOTIFICATIONS_ELICITATION_COMPLETE`
- Conformance tests pass (40/40), including `tools-call-elicitation`,
  `elicitation-sep1034-defaults`, and `elicitation-sep1330-enums`
- All tests pass (`rake test`), RuboCop is clean
- Verified form mode elicitation end-to-end with a sample MCP server
  running in Claude Code

## Breaking Changes

None. This is a new feature addition.

lib/mcp/methods.rb

@@ -33,6 +33,7 @@ module MCP
     NOTIFICATIONS_MESSAGE = "notifications/message"
     NOTIFICATIONS_PROGRESS = "notifications/progress"
     NOTIFICATIONS_CANCELLED = "notifications/cancelled"
+    NOTIFICATIONS_ELICITATION_COMPLETE = "notifications/elicitation/complete"
 
     class MissingRequiredCapabilityError < StandardError
       attr_reader :method
@@ -79,8 +80,8 @@ module MCP
           require_capability!(method, capabilities, :sampling)
         when ELICITATION_CREATE
           require_capability!(method, capabilities, :elicitation)
-        when INITIALIZE, PING, NOTIFICATIONS_INITIALIZED, NOTIFICATIONS_PROGRESS, NOTIFICATIONS_CANCELLED
-          # No specific capability required for initialize, ping, progress or cancelled
+        when INITIALIZE, PING, NOTIFICATIONS_INITIALIZED, NOTIFICATIONS_PROGRESS, NOTIFICATIONS_CANCELLED, NOTIFICATIONS_ELICITATION_COMPLETE
+          # No specific capability required.
         end
       end