Standardize Resource Not Found Errors on -32602 with URI Data per SEP-2164

## Motivation and Context

SEP-2164 (modelcontextprotocol/modelcontextprotocol#2164, merged for the 2026-07-28 spec release)
standardizes the resource-not-found error on the JSON-RPC Invalid Params code (-32602),
dropping the legacy -32002 code, and both reference SDK implementations attach the requested URI
as structured error data (typescript-sdk#2267 throws `InvalidParams` with `data: { uri }`;
python-sdk#2344 adds a `ResourceNotFoundError` that maps to `code=-32602, data={"uri": ...}`).

The Ruby server already used -32602 (via `error_type: :invalid_params`) for its built-in not-found path
(`completion/complete` with an unknown `ref/resource` URI), but the response carried no structured data
and the generic "Invalid params" message, and there was no public error class for `resources_read_handler`
blocks to raise. The Ruby client never special-cased -32002, so nothing needed removal there.

- New public `MCP::Server::ResourceNotFoundError` (modeled on the `URLElicitationRequiredError` precedent):
  code -32602, message `"Resource not found: <uri>"`, and `data: { uri: <uri> }`.
  Custom `resources_read_handler` blocks raise it for unknown URIs; the README documents the pattern.
- The `completion/complete` `ref/resource` not-found path now raises this class,
  so its error response gains `data: { uri: }` and a descriptive message instead of
  the generic "Invalid params" text.
- The default `resources/read` behavior (returning empty contents for unknown URIs
  when no handler is registered) is intentionally unchanged; raising there would
  alter existing wire behavior.

Resolves #379.

## How Has This Been Tested?

New tests in `test/mcp/server_test.rb`:

- `resources/read` with a handler raising `ResourceNotFoundError` responds
  with code -32602, message `"Resource not found: file:///missing.txt"`,
  and `data: { uri: "file:///missing.txt" }`
- `completion/complete` with an unknown `ref/resource` URI carries the same code,
  message, and structured data

New test in `test/mcp/client_test.rb` asserts `Client#read_resource` surfaces
the -32602 code and the `data` hash unmodified through `Client::ServerError`
(regression: no special-casing swallows it).

The pre-existing completion error-code tests pass unchanged.
`bundle exec rake` (tests, RuboCop, and conformance baseline) passes.

## Breaking Changes

None at the JSON-RPC code level (-32602 before and after).
The `completion/complete` resource-not-found error response changes shape within
the error object: `message` becomes `"Resource not found: <uri>"` instead of
`"Invalid params"`, and `data` becomes `{ uri: <uri> }` instead of the message string.
Both members are advisory per JSON-RPC 2.0.

README.md

@@ -921,6 +921,19 @@ end
 
 otherwise `resources/read` requests will be a no-op.
 
+For unknown URIs, raise `MCP::Server::ResourceNotFoundError` from the handler.
+Per SEP-2164, the server then responds with the standard JSON-RPC Invalid Params error (`-32602`)
+carrying the requested URI in the error `data` member:
+
+```ruby
+server.resources_read_handler do |params|
+  resource = lookup(params[:uri])
+  raise MCP::Server::ResourceNotFoundError.new(params[:uri], params) unless resource
+
+  [{ uri: params[:uri], mimeType: resource.mime_type, text: resource.body }]
+end
+```
+
 ### Resource Templates
 
 The `MCP::ResourceTemplate` class provides a way to register resource templates with the server.