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Say a param is invalid when its validation error has no message (#2993)

A `Grape::Exceptions::Validation` created without a message only
translated one when given one, so Ruby's `StandardError#message` fell
back to the exception's class name, and that reached the response. A
custom validator with no `default_message_key` that calls
`validation_error!(attr_name)` answered
`number Grape::Exceptions::Validation`.

Such an error now takes a new `invalid` message ("is invalid"), with
`:invalid` as its message key.

Also covers `Validators::Base#message` called with no key, no
`:message` option and no block, which a custom validator can do and no
spec did.

Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>

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