feat: [SIW-2159] Handle presentation errors

[gispada]

List of Changes

• Added sendAuthorizationErrorResponse function to notify the RP
• Created RelyingPartyResponseError class with RP-specific error codes
• Explicitly handled 400 and 403 HTTP status code when sending the Authorization Response
• Thrown InvalidRequestObjectError in verifyRequestObject for validation-related errors
• Thrown DcqlError in evaluateDcqlQuery to unify DCQL-related errors
• Refactored some error related utils and types
• Updated the example app
• Added more tests

Motivation and Context

This PR improves the error handling in the presentation flow, by providing a specific RelyingPartyResponseError and a function to notify the Relying Party of any errors occurred when processing the Authorization Request.

How Has This Been Tested?

Tested against the test Relying Party instance, using the example app and a proxy to simulate 400, 403 and 500 HTTP status codes, with the following body:

{
    "error": "invalid_request",
    "error_description": "An error occurred"
}

Screenshots (if appropriate):

Checklist:

• My change requires a change to the documentation.
• I have updated the documentation accordingly.