http2: Add handling stream level error

Previously, when a stream was closed with other than NGHTTP2_NO_ERROR
by RST_STREAM, underlying TCP connection was dropped.  This is
undesirable since there may be other streams multiplexed and they are
very much fine.  This change introduce new error code
CURLE_HTTP2_STREAM, which indicates stream error that only affects the
relevant stream, and connection should be kept open.  The existing
CURLE_HTTP2 means connection error in general.

Ref: https://github.com/curl/curl/issues/659
Ref: https://github.com/curl/curl/pull/663