feat(rust): make Serializer api to return Result && replace panic/expect/assert/unwrap with Result

[urlyy]

What does this PR do?

• simply refactor error.rs
• replace panic/expect/unwrap with Result
• replace assert with ensure
• change Serialize api to return Result

Related issues

close #2706

Does this PR introduce any user-facing change?

1. user should use unwrap/? when se/de.
2. when they customize serializer, will return Result.

• Does this PR introduce any public API change?
• Does this PR introduce any binary protocol compatibility change?

[urlyy]

There are still some unsafe code not return Result. Mainly about SIMD. But this pr is enough to merge.