feat(llm): structured error taxonomy with a shared HarnessError base (RFC 005 pt 2)

Introduce HarnessError in dsh-llm (the leaf package): a stable machine-routable
code distinct from the message, cause chaining, name from the subclass, plus
isHarnessError. LlmError, ToolArgsError, and InvariantError now extend it.

Tool failures carry the structure end-to-end: ToolExecutionResult gains
error: { name, code } (populated from a thrown HarnessError), and the loop
forwards it onto the tool/result session event (which gained the same optional
field) for retry/sandbox plugins and replay. The loop's toError wraps non-Error
throws in a HarnessError(code: UNKNOWN, cause) instead of a bare Error.

Landed last and in isolation so it's a pure upgrade over the plain Error+code
the earlier PRs used — independently revertible. Graduates RFC 005 pt 2 ->
ADR 0015; RFC 005 now fully implemented.

packages/session/src/types.ts

@@ -62,7 +62,7 @@ export interface SessionEventMap {
   /** Assembled assistant message for one step (derived history uses this). */
   'assistant/message': { turn: number; step: number; content: ContentBlock[] }
   'tool/call': { turn: number; step: number; callId: CallId; name: string; arguments: string }
-  'tool/result': { turn: number; step: number; callId: CallId; content: ContentBlock[]; isError: boolean }
+  'tool/result': { turn: number; step: number; callId: CallId; content: ContentBlock[]; isError: boolean; error?: { name: string; code: string } }
   /** Steering content injected between steps of a running turn. */
   'steering/message': { turn: number; content: ContentBlock[]; source: MessageSource }
   'usage': { turn: number; step: number; usage: TokenUsage }