test: refactor common.expectsError()

* Report values in assertions.
* Strict equality match if message is a string.
* instanceof/typeof instead of deprecated util.isRegExp()

PR-URL: https://github.com/nodejs/node/pull/11381


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Joyee Cheung <joyeec9h3@gmail.com>
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>