src: add CollectExceptionInfo & errors.SystemError

Preparing for the migration of existing UVException and ErrnoExceptions
from the native layer, add new `errors.SystemError` to internal/errors
and new `env->CollectExceptionInfo()` / `env->CollectUVExceptionInfo()`
methods.

PR-URL: https://github.com/nodejs/node/pull/16567


Reviewed-By: Joyee Cheung <joyeec9h3@gmail.com>
Reviewed-By: Michael Dawson <michael_dawson@ca.ibm.com>