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Abort in-flight request handlers when the connection closes. Previously, request handlers would continue running after the transport disconnected, wasting resources and preventing proper cleanup. Also fixes `InMemoryTransport.close()` firing `onclose` twice on the initiating side.
Convert remaining capability-assertion throws to `SdkError(SdkErrorCode.CapabilityNotSupported, ...)`. Follow-up to #1454 which missed `Client.assertCapability()`, the task capability helpers in `experimental/tasks/helpers.ts`, and the sampling/elicitation capability checks in `experimental/tasks/server.ts`.
`ReadBuffer.readMessage()` now silently skips non-JSON lines instead of throwing `SyntaxError`. This prevents noisy `onerror` callbacks when hot-reload tools (tsx, nodemon) write debug output like "Gracefully restarting..." to stdout. Lines that parse as JSON but fail JSONRPC schema validation still throw.
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