…time error handling (#2058)

## Explanation

- Previously, error handling branches for
`RestrictedControllerMessenger` methods were not being tested on the
basis of compile-time checks: "Branches unreachable with valid types".
- However, given that these methods are being called by our JavaScript
clients, we also need assurances on runtime error-handling behavior.
- This PR adds jest tests for the previously ignored error handling
branches: coverage is brought up to 100%.
- `@ts-expect-error` is used to suppress the compile-time type errors to
simulate a JavaScript environment.

## References

- Closes #2059
- See #2051 (comment)

## Changelog

### `@metamask/base-controller`

## Checklist

- [x] I've updated the test suite for new or updated code as appropriate
- [x] I've updated documentation (JSDoc, Markdown, etc.) for new or
updated code as appropriate
- [x] I've highlighted breaking changes using the "BREAKING" category
above as appropriate

---------

Co-authored-by: Elliot Winkler <elliot.winkler@gmail.com>

…ot initialized with internal actions/events in allow lists (#2051)

## Explanation

- `RestrictedControllerMessenger` constructor and
`ControllerMessenger.getRestricted()` method now raise a type error if
an internal action is passed into `allowedActions`, or an internal event
into `allowedEvents`.
	- ` Type 'string' is not assignable to type 'never'.`
- `Type '"SomeController:internalAction"' is not assignable to type
'"OtherController:externalAction1" |
"OtherController:externalAction2"'.`
- Fixes breaking tests in downstream controllers in core repo.

## Impact

- The `allowed{Actions,Events}` arrays in
`ControllerMessenger.getRestricted()` now align with the
`Allowed{Actions,Events}` generic params of
`RestrictedControllerMessenger`: Both only enumerate external
actions/events.
- This commit disallows `allowed{Actions,Events}` arrays that contain an
incomplete list of internal actions/events.
- A partial list doesn't provide any useful information as all internal
actions/events will be available to the messenger regardless of whether
any of them are allowlisted.
- A partial list also gives the confusing impression that some internal
actions/events can be *disallowed* through omission, which is not true
as of #2050.

---------

Co-authored-by: Elliot Winkler <elliot.winkler@gmail.com>

…wareMessenger` pattern, fix `any` (#1970)

## Explanation

### Apply controller-messenger pattern
- Defines `QueuedRequestMiddlewareMessenger`,
`SelectedNetworkMiddlewareMessenger` types to represent external
controller messengers in the middleware chain.
  - Reserved for internal use and not exported at package level.
- Defines separate allow lists for
`QueuedRequest{Controller,Middleware}Messenger` and
`SelectedNetwork{Controller,Middleware}Messenger`.

### Type fixes
- Defines and exports `QueuedRequestMiddlewareJsonRpcRequest`,
`SelectedNetworkMiddlewareJsonRpcRequest` types.
- Fix `any` usage in `createSelectedNetworkMiddleware`

### Tests
- Fixes `any`, `as any` usage in `QueuedRequestController`,
`QueuedRequestMiddleware` tests.
- Moves util functions for building test messengers into individual test
files.
- For context:
#1970 (comment)

## References

- Follow-up from #1806
- Builds on #2051
- Closes #2038

## Changelog

### `@metamask/queued-request-controller`

- **ADDED**: Add `QueuedRequestMiddlewareJsonRpcRequest` typee
- **BREAKING:** `QueuedRequestControllerMessenger` can no longer be
defined with any allowed actions or events.
- **CHANGED**: Move `@metamask/approval-controller` from devDeps to
deps.

### `@metamask/selected-network-controller`

- **ADDED**: Add `SelectedNetworkMiddlewareJsonRpcRequest` type
- **BREAKING:** Rename `SelectedNetworkControllerAction` to
`SelectedNetworkControllerActions` and `SelectedNetworkControllerEvent`
to `SelectedNetworkControllerEvents` for consistency with corresponding
type exports from other controllers.
- **BREAKING:** `createSelectedNetworkMiddleware` return type is
constrained to satisfy `JsonRpcMiddleware<JsonRpcParams, Json>`, and the
`req` parameter needs to satisfy
`SelectedNetworkMiddlewareJsonRpcRequest`.

## Checklist

- [x] I've updated the test suite for new or updated code as appropriate
- [x] I've updated documentation (JSDoc, Markdown, etc.) for new or
updated code as appropriate
- [x] I've highlighted breaking changes using the "BREAKING" category
above as appropriate

---------

Co-authored-by: Elliot Winkler <elliot.winkler@gmail.com>