Update send_notification method to properly construct JSON-RPC notification objects with jsonrpc version and method fields.
This ensures notifications conform to the JSON-RPC 2.0 specification when sent over HTTP transport.
https://www.jsonrpc.org/specification#notification
Another goal is to standardise the `send_notification` interface.
Before the revision, it was sufficient to pass the method and parameters in the case of stdio.
However, in the case of Streamable, a hash based on the JSON-RPC specification must be passed.
The reason for the change is that a NameError occurs when a POST request is made while the stream is closed because ModelContextProtocol is undefined.
I have also added test cases to check the behaviour when IOError and Errno::EPIPE occurs.
