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[lldb-dap] Improve error reporting for dap command arguments. (#135684)
Previously the error only contained the failed to parse JSON message,
which has no additional context.
This improves the error messages and improves the consistency of
handling properties in protocol structures. Updating the fields to use
'ObjectMapper.map' instead of 'ObjectMapper.mapOptional' caught that
adapterID was misspelled as well.
For example, previously:
```
$ echo 'Content-Length: 81\r\n\r\n{"type":"request","command":"initialize","seq":1,"arguments":{"adapterID":12345}} | lldb-dap
```
Worked without an error but now it reports:
```
invalid arguments for request 'initialize': expected string at arguments.adapterID
{
"adapterID": /* error: expected string */ 12345
}
```
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