Build resident autonomy channels

[jamiepine]

Summary

• Keep one autonomy channel resident per agent and deliver heartbeats through a coalescing wake doorbell.
• Treat autonomy runs as durable epochs with atomic admission, generation fencing, transactional wake claims, and restart reconciliation.
• Retain interactive workers across heartbeats and restarts while blocking epoch completion until owned work settles.
• Scope autonomy tools by observe, suggest, and act authority. Autonomy cannot self-approve pending work.
• Remove autonomy run timeouts and update the lifecycle, prompt, and worker reliability docs.

Lifecycle

The resident channel moves between idle, running, and finishing epochs. Atomic run admission prevents overlapping epochs. Child registration and completion share one synchronization boundary, so completion cannot race worker or branch creation. Shutdown closes active epochs and converges retained worker state before database teardown.

This PR is stacked on #649.

Testing

• just preflight
• just gate-pr
• cargo test agent::autonomy
• cargo test tools::autonomy_complete
• cargo test wakes::runs
• cargo test autonomy_cannot
• cargo test autonomy_channel_prompt_renders_per_level

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