api/msgpack-rpc: Improve error infrastructure

- Add error type information to `Error`
- Rename `set_api_error` to `api_set_error` for consistency with other api_*
  functions/macros.
- Refactor the api_set_error macro to accept formatted strings and error types
- Improve error messages
- Wrap error messages with gettext macro
- Refactor msgpack-rpc serialization to transform Error instances into [type,
  message] arrays
- Add error type information to API metadata
- Normalize nvim->client and client->nvim error handling(change
  channel_send_call to accept an Error pointer instead of the `errored` boolean
  pointer)
- Use macro to initialize Error structures
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