inspector: migrate errors from C++ to JS

Assign a code to a user-facing error.
Turn other internal-only errors to checks.

PR-URL: https://github.com/nodejs/node/pull/19387


Reviewed-By: Franziska Hinkelmann <franziska.hinkelmann@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Eugene Ostroukhov <eostroukhov@google.com>
Reviewed-By: Richard Lau <riclau@uk.ibm.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>