ensure SQL expressions w/o bool pass through to correct typing error

ensure SQL expressions w/o bool pass through to correct typing error

Fixed regression which occurred as of 2.0.37 where the checked
:class:`.ArgumentError` that's raised when an inappropriate type or object
is used inside of a :class:`.Mapped` annotation would raise ``TypeError``
with "boolean value of this clause is not defined" if the object resolved
into a SQL expression in a boolean context, for programs where future
annotations mode was not enabled.  This case is now handled explicitly and
a new error message has also been tailored for this case.  In addition, as
there are at least half a dozen distinct error scenarios for intepretation
of the :class:`.Mapped` construct, these scenarios have all been unified
under a new subclass of :class:`.ArgumentError` called
:class:`.MappedAnnotationError`, to provide some continuity between these
different scenarios, even though specific messaging remains distinct.

Fixes: #12329
Change-Id: I0193e3479c84a48b364df8655f050e2e84151122
(cherry picked from commit b19a09812c2b0806cc063e42993216fc1ead6ed2)