assert: add more information to AssertionErrors

This adds information about the actual thrown error to the
AssertionError's message property.

It also improves the logged error instances error name by using the
constructors name, if available.

PR-URL: https://github.com/nodejs/node/pull/28263
Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: Benjamin Gruenbaum <benjamingr@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>

test/parallel/test-assert-async.js

@@ -73,7 +73,8 @@ const invalidThenableFunc = () => {
     () => assert.rejects(Promise.reject(err), validate),
     {
       message: 'The "validate" validation function is expected to ' +
-               "return \"true\". Received 'baz'",
+               "return \"true\". Received 'baz'\n\nCaught error:\n\n" +
+               'Error: foobar',
       code: 'ERR_ASSERTION',
       actual: err,
       expected: validate,