Fix Error printout for protocol-response tests (smithy-lang#657)

* Fix broken reference to `fail()` after jest-upgrade

Jest versions >= 27 replace jest-jasmine2 with jest-circus, which does
not have an implementation for the `fail()` method, but still has
the method stub defined in the Jest type-defs. This change implements
the `fail()` method in protocol test suites, and adjusts the thrown
message to actually state the error, instead of just `err`.

* Remove interpolation of error in response tests

When writing strings with newlines and interpolation, code can get mangled
and won't compile. This change makes the error printout a single-line and not
interpolated.

smithy-typescript-codegen/src/main/java/software/amazon/smithy/typescript/codegen/HttpProtocolTestGenerator.java

@@ -643,7 +643,7 @@ private void generateResponseTest(OperationShape operation, HttpResponseTestCase
             writer.write("try {\n"
                        + "  r = await client.send(command);\n"
                        + "} catch (err) {\n"
-                       + "  fail('Expected a valid response to be returned, got:\n\n `${err}`');\n"
+                       + "  fail(\"Expected a valid response to be returned, got \" + err);\n"
                        + "  return;\n"
                        + "}");
             writeResponseAssertions(operation, testCase);