Some exception classes (e.g. anyio.ClosedResourceError) are raised without
a message argument, so str(exc) returns an empty string. The existing error
format f'{type(exc).__name__}: {exc}' would produce messages like
'MCP call failed: ClosedResourceError: ' with nothing after the colon.
Add _exc_str() helper that falls back to repr(exc) when str(exc) is empty,
and apply it to all 6 MCP error formatting sites (5 tool/prompt/resource
handlers + 1 sampling handler).
Fixes#19417
