test: refactor test-stream-pipe-error-handling

* provide a RegExp for second argument to `assert.throws()`
* remove unused function arguments
* provide duration of 1 ms for `setTimeout()` calls that do not have a
  duration

PR-URL: https://github.com/nodejs/node/pull/10530


Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>