Port from anomalyco/opencode#25019 ("fix: handle invalid mcp urls").

Previously: a typo in `config.yaml` (missing scheme, wrong scheme,
empty string, non-string value) slipped past `_is_http()` and hit
`httpx.URL(url)` or `streamablehttp_client(url, ...)` deep in the
transport layer. That raised a generic exception which went through
the reconnect-backoff loop, so a bad URL caused _MAX_INITIAL_CONNECT_RETRIES
attempts with doubling backoff — about a minute of pointless retries
plus an opaque error — before the server was marked failed.

Now: we validate the URL once, at the top of `run()`, before
entering the retry loop. A malformed URL raises `InvalidMcpUrlError`
(a `ValueError` subclass) with a message that names the offending
server and explains exactly what was wrong. `_ready` is set and
`_error` is populated, so `start()` re-raises and the server shows
up as failed in `hermes mcp list` without any backoff burn.

Validation rules:
- Must be a string (rejects None, dict, int)
- Must be non-empty (rejects '' and whitespace-only)
- Scheme must be http or https (rejects file://, ws://, stdio://)
- Must have a non-empty host (rejects http:///, http://:8080)

Tests (21 new cases in tests/tools/test_mcp_invalid_url.py):
- TestValidUrlsAccepted: http, https, IPv6, ports, paths, query strings
- TestInvalidUrlsRejected: every rejection path above + clear error text
- TestErrorIsValueError: downstream code catching ValueError still works

E2E verified: a misconfigured server with `url: not-a-valid-url`
now fails in <0.001s with the clear error, instead of minutes of retries.

Doesn't touch stdio servers (they use `command`, not `url`) — the
validator only fires when `_is_http()` returns True.