Fix invalid JSON-RPC request errors

[Genmin]

Summary

• return JSON-RPC -32600 Invalid Request for valid JSON bodies that fail JSON-RPC message schema validation in the streamable HTTP transport
• preserve the parsed raw stdio message on schema validation errors so the server can recover a request id
• make stdio send an Invalid Request error response for malformed requests with an id, while leaving malformed notifications response-less

Fixes #563.

Validation

• pnpm --filter @modelcontextprotocol/core test -- test/shared/stdio.test.ts
• pnpm --filter @modelcontextprotocol/server test -- test/server/stdio.test.ts test/server/streamableHttp.test.ts
• pnpm --filter @modelcontextprotocol/node test -- test/streamableHttp.test.ts
• pnpm --filter @modelcontextprotocol/core typecheck
• pnpm --filter @modelcontextprotocol/server typecheck
• pnpm --filter @modelcontextprotocol/node typecheck
• pnpm --filter @modelcontextprotocol/core lint
• pnpm --filter @modelcontextprotocol/server lint
• pnpm --filter @modelcontextprotocol/node lint
• pre-push hook: pnpm run build:all, pnpm run lint:all, pnpm run typecheck:all

[changeset-bot]

🦋 Changeset detected

Latest commit: bb65fb9

The changes in this PR will be included in the next version bump.

This PR includes changesets to release 6 packages

Name	Type
@modelcontextprotocol/core	Patch
@modelcontextprotocol/node	Patch
@modelcontextprotocol/server	Patch
@modelcontextprotocol/express	Patch
@modelcontextprotocol/fastify	Patch
@modelcontextprotocol/hono	Patch

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[pkg-pr-new]

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@modelcontextprotocol/client

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@modelcontextprotocol/express

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@modelcontextprotocol/fastify

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@modelcontextprotocol/hono

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@modelcontextprotocol/node

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commit: bb65fb9

[Genmin]

Added the missing changeset for @modelcontextprotocol/core, @modelcontextprotocol/node, and @modelcontextprotocol/server. Local validation on push passed the repo pre-push hook: typecheck, build, and lint.

[Genmin]

The only red check after the changeset push was the known transient Cloudflare Workers/Miniflare failure in on the Node 20 shard. I don't have permission to rerun failed jobs directly (), so I pushed an empty retry commit with no code changes.

[Genmin]

The only red check after the changeset push was the known transient Cloudflare Workers/Miniflare Network connection lost failure in test/server/cloudflareWorkers.test.ts on the Node 20 shard. I do not have permission to rerun failed jobs directly, so I pushed an empty retry commit with no code changes.