feat: refactor error to be more clear and maintainable

[PureWhiteWu]

1. All the thrift exceptions should be defined together, so this pr moves ApplicationError from volo to pilota.
2. The previous XError such as ApplicationError, ProtocolError, TransportError correspond to the exception concept in thrift rpc protocol, this pr renames those types to XException.
3. The Error type does not have a clear semantic, this pr renames it to ThriftException which is clearer in meaning.
4. The write_x methods in rw_ext.rs never returns error, so this PR removes the Result type from function sig.
5. Previously the TransportException only comes from std::io::Error and its kind is a subset of std::io::ErrorKind, and separate a new TransportExceptionKind from std::io::ErrorKind does not make sense. So this pr deletes the TransportExceptionKind and uses the std::io::Error directly.
6. Previously there's a standalone type called DecodeError which is a mixture of some variants of ThriftException, and the reason it exists is to add more information about the context of the error. But the implementation has some issues, such as we cannot easily get the root kind of error. The only thing we need to do is to prepend a message to the error, so this pr adds a prepend_msg function to ThriftException and uses it as the codec error, which is far clearer and more maintainable.