[Task]: Improve error handling

[ishymko]

Client

Currently client does not reconstruct domain errors and errors are different in different transports: rest.py, jsonrpc.py, no special logic in grpc.py so likely it's going to throw gRPC library errors.

With 1.0 specifying error format for HTTP+JSON/REST (#722) and GRPC (#723) it's a good opportunity for implementing proper transport agnostic errors on the client.

Server

Currently server defines domain errors, however built-in ValueError's are used there as well, i.e. here. This error is not mapped to 400-ish invalid request error in JSON-RPC and is converted to internal error: jsonrpc_handler.py and jsonrpc_app.py. Same for REST: error_handlers.py.