http2: callback valid check before closing request

Do not close the request if callback is not a function, and
throw ERR_INVALID_CALLBACK TypeError

Backport-PR-URL: https://github.com/nodejs/node/pull/19229
PR-URL: https://github.com/nodejs/node/pull/19061
Fixes: https://github.com/nodejs/node/issues/18855


Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Shingo Inoue <leko.noor@gmail.com>
Reviewed-By: Tobias Nießen <tniessen@tnie.de>