feat: refactor error message format

[binbin-li]

Description

What this PR does / why we need it:

This PR will refactor the message format returned by Error(). The new format is following the proposed improvement from #1662

Note: this pr is based on #1671, please check the actual diff at: binbin-li#209

In general, for a nested Ratify error, we'll return a message in format:
<Error Code>: <Error Description>: <Error Reason>: <Remediation>,
where Error Code is the error code of the root error,
Error Description is concatenated details of all nested errors,
Error Reason is the detail or original error of the root error,
and Remediation is the remediation of the root error.

Let's take the below nested error as example:

{
  Code: "TOP_ERR_CODE",
  Detail: "top error detail",
  Remediation: "top error remediation",
  OriginalError: {
    Code: "ROOT_ERR_CODE",
    Detail: "root error detail",
    Remediation: "root error remediation",
    OriginalError: "http request failed with 401"
  }
}

Then the Error() method should return a string: ROOT_ERR_CODE: top error detail: root error detail: http request failed with 401: root error remediation.
GetDetail() should return string: top error detail: root error detail.
GetErrorReason() should return string: http request failed with 401.
GetRemeidation() should return string: root error remediation.

Therefore, we would stop printing all fields from the Error. In this PR, we keep all existing fields under Error struct. And if the new error format looks good in the following releases, we'll start remove those unused fields gradually.

Examples:
Error log before change:
time=2024-07-31T14:04:45.027923414Z level=error msg=Original Error: (Original Error: (Original Error: (json: cannot unmarshal number into Go struct field azureWIAuthProviderConf.clientID of type string), Error: config invalid, Code: CONFIG_INVALID, Component Type: authProvider, Detail: failed to parse auth provider configuration), Error: auth denied, Code: AUTH_DENIED, Component Type: authProvider), Error: plugin init failure, Code: PLUGIN_INIT_FAILURE, Component Type: referrerStore, Detail: failed to create auth provider from configuration

time=2024-07-31T14:02:52.767626288Z level=error msg=Original Error: (failed to find plugin "notation22" in paths [/.ratify/plugins]), Error: plugin not found, Code: PLUGIN_NOT_FOUND, Component Type: verifier, Detail: plugin not found

Error log after change:
time=2024-07-31T13:48:09.976909601Z level=error msg=CONFIG_INVALID: failed to create auth provider from configuration: failed to parse auth provider configuration: json: cannot unmarshal number into Go struct field azureWIAuthProviderConf.clientID of type string

time=2024-07-31T13:57:55.837222446Z level=error msg=PLUGIN_NOT_FOUND: plugin not found: failed to find plugin "notation22" in paths [/.ratify/plugins]

Which issue(s) this PR fixes (optional, using fixes #<issue number>(, fixes #<issue_number>, ...) format, will close the issue(s) when the PR gets merged):

Fixes: #1655

Type of change

Please delete options that are not relevant.

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• Helm Chart Change (any edit/addition/update that is necessary for changes merged to the main branch)
• This change requires a documentation update

How Has This Been Tested?

Please describe the tests that you ran to verify your changes. Please also list any relevant details for your test configuration

• Test A
• Test B

Checklist:

• Does the affected code have corresponding tests?
• Are the changes documented, not just with inline documentation, but also with conceptual documentation such as an overview of a new feature, or task-based documentation like a tutorial? Consider if this change should be announced on your project blog.
• Does this introduce breaking changes that would require an announcement or bumping the major version?
• Do all new files have appropriate license header?

Post Merge Requirements

• MAINTAINERS: manually trigger the "Publish Package" workflow after merging any PR that indicates Helm Chart Change

[codecov]

Codecov Report

Attention: Patch coverage is 96.55172% with 2 lines in your changes missing coverage. Please review.

Files	Patch %	Lines
errors/types.go	96.55%	1 Missing and 1 partial ⚠️

Files	Coverage Δ
errors/types.go	90.47% <96.55%> (+1.58%)	⬆️

[susanshi]

Looks good to me. thanks Binbin