[SPARK-55640][GEO][SQL] Propagate WKB parsing errors for Geometry and Geography

### What changes were proposed in this pull request?
WKB reader was implemented for Geometry and Geography, but only using internal exception handling. This PR addresses this by introducing proper user-facing error classes for WKB parsing.

### Why are the changes needed?
Propagate the WKB parsing errors properly to the user.

### Does this PR introduce _any_ user-facing change?
Yes, users now get proper errors for invalid WKB parsing.

### How was this patch tested?
Added new unit tests and end-to-end SQL tests for WKB parsing.

### Was this patch authored or co-authored using generative AI tooling?
No.

Closes #54424 from uros-db/geo-wkb-parse-exceptions.

Authored-by: Uros Bojanic <uros.bojanic@databricks.com>
Signed-off-by: Wenchen Fan <wenchen@databricks.com>