MINOR: Improved error handling in ZK migration

[mumrah]

This patch fixes many small issues to improve error handling and logging during the ZK migration. A test was added to simulate a ZK session expiration to ensure the correctness of the migration driver.

With this change, ZK errors thrown during the migration will not hit the fault handler registered with with KRaftMigrationDriver, but they will be logged.

[cmccabe]

is it necessary to copy the Set<Integer> we get back from zkMigrationClient.readBrokerIds? Seems like it should be fine to use directly...

[mumrah]

Ah, yea this is needed because the Set returned by the client was an immutable Scala thing originally. I'll change the client to return a mutable set

[cmccabe]

@mumrah : KRaftMigrationDriverTest.testMigrationWithClientException is failing for me with this PR. Can you take a look?

Gradle Test Run :metadata:test > Gradle Test Executor 3 > KRaftMigrationDriverTest > testMigrationWithClientException(boolean) > org.apache.kafka.metadata.migration.KRaftMigrationDriverTest.testMigrationWithClientException(boolean)[1] FAILED
    org.opentest4j.AssertionFailedError: expected: <true> but was: <false>
        at app//org.junit.jupiter.api.AssertionFailureBuilder.build(AssertionFailureBuilder.java:151)
        at app//org.junit.jupiter.api.AssertionFailureBuilder.buildAndThrow(AssertionFailureBuilder.java:132)
        at app//org.junit.jupiter.api.AssertTrue.failNotTrue(AssertTrue.java:63)
        at app//org.junit.jupiter.api.AssertTrue.assertTrue(AssertTrue.java:36)
        at app//org.junit.jupiter.api.AssertTrue.assertTrue(AssertTrue.java:31)
        at app//org.junit.jupiter.api.Assertions.assertTrue(Assertions.java:180)
        at app//org.apache.kafka.metadata.migration.KRaftMigrationDriverTest.testMigrationWithClientException(KRaftMigrationDriverTest.java:358)```

(Also Jenkins did something silly again, but hopefully the next build will work.)

[mumrah]

@cmccabe the latest test run fixed the unit test. The other failures will be addressed by #13407