Define messageerror

The messageerror event is used when deserialization fails. E.g., when
an ArrayBuffer object cannot be allocated.

This also removes StructuredCloneWithTransfer as deserializing errors
now need to be handled on their own.

Tests: web-platform-tests/wpt#5567.

Service workers follow-up:
w3c/ServiceWorker#1116.

Fixes part of #2260 and fixes #935.

Author: annevk