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fix: correlate invalid JSON-RPC envelope errors with the original request id
When an incoming message is valid JSON but fails JSON-RPC envelope
validation, the error response previously could not be correlated with
the originating request: the stdio server transport dropped the message
with no response at all, and the Streamable HTTP transport replied with
a null id.
Extract the request id best-effort from the raw parsed payload and
preserve it in the error response on both transports, falling back to a
null id (per the JSON-RPC 2.0 spec) when no valid id can be extracted.
The stdio transport now also answers unparseable lines with a Parse
error (-32700, null id), and both transports report envelope-invalid
messages as Invalid Request (-32600) instead of Invalid params (-32602),
matching the JSON-RPC 2.0 error code semantics.
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