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fix: throw upon invalid payload format
An invalid packet was previously parsed as an ERROR packet, which was then ignored because it didn't contain any 'nsp' (namespace) field. This behavior was wrong because: - it means the other side is sending invalid payloads, so the connection must be closed right away - ERROR packets are meant for namespace authentication failures Parsing an invalid payload will now throw an error, which must be caught by the caller. Closes #86
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