Correlate invalid JSON-RPC envelope errors with the original request id

[GauthamPrabhuM]

Summary

Fixes #2848.

A JSON-RPC message that is valid JSON but not a valid request object (wrong jsonrpc version, missing jsonrpc, non-string method, etc.) was not answered with an error that a client could correlate back to its request. Per JSON-RPC 2.0, the server should reply with an Invalid Request (-32600) error that echoes the original request id when it is detectable (and null otherwise).

Previously the behavior was inconsistent and uncorrelatable:

• Streamable HTTP replied 400 with id: null and code -32602 (Invalid params). A client that pipelines requests 1, 2, 3 and trips this on #2 saw a response with a non-matching id and no way to know which request failed.
• stdio sent no response at all — the validation exception was forwarded into the read stream and silently dropped by the dispatcher, so the original request hung from the client's perspective.

Changes

• Added mcp.types.jsonrpc.extract_request_id() — best-effort extraction of the id from a raw payload that failed envelope validation, returning None when no valid id is present (bool and fractional values are rejected, since they are not valid RequestId types).
• Streamable HTTP (server/streamable_http.py): invalid envelopes now reply -32600 with the correlated id instead of -32602/null. _create_error_response gained an optional request_id parameter.
• stdio (server/stdio.py): an id-bearing line that fails validation now emits a correlated -32600 error response on the write stream. Lines without a detectable id (parse errors, malformed notifications, invalid id types) keep the previous behavior of forwarding the exception without a response.

Testing

• New parametrized tests on both transports covering all three cases from the issue plus string ids, undetectable ids, and invalid id types (bool, fractional).
• Updated test_hosting_http.py to assert the new -32600 code for the batched-request case.
• End-to-end verified against a live stdio subprocess and a live streamable-HTTP server following a full init flow: invalid envelopes return correlated -32600 errors and a follow-up ping still succeeds.
• Full suite green: ./scripts/test (1788 passed), 100% coverage, ruff, pyright all clean.

Migration / breaking change

The error code returned for an invalid JSON-RPC envelope over both transports changes from -32602 (Invalid params) to -32600 (Invalid Request), and the response id is now populated when detectable. This is a behavioral change to error responses; documented here for reviewers since it may affect clients that string-matched on the prior code.

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