parse_ipc_message should return exception instead of return None if parse failed

[zhaohaidao]

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Description

Followup From: #57
IIUC, if data.len() < 8 { , continuation != CONTINUATION_MARKER, if data.len() < 8 + metadata_size should all be unexpected, right?
I think we should return exception instead of return None.

You can do return exception in this pr or another pr(but rememeber to left todo).

Willingness to contribute

• I'm willing to submit a PR!