[SIM] - Unified calypso-sim binary with JSON-RPC streaming control plane

Current Features

Two separate simulator binaries:

• manual-sim (#292) — interactive keypress injector.
• simulate — autonomous heartbeat for every topic with sim_freq.

They duplicate the MQTT setup and publish path, they can't run at the same time, and there's no way for an agent to control either one.

Desired Additional Features

Replace both with a single calypso-sim binary (folder layout under src/bin/calypso-sim/) with four modes that can run together:

A per-topic owner field (auto / stream / silenced) lets stream and keymap modes claim / release / silence topics, and the autonomous loop skips topics it doesn't own. Stream methods: publish, claim, release, silence, status, list_topics, ping.

Acceptance Criteria

• manual-sim and simulate are deleted; replaced by src/bin/calypso-sim/ modules.
• All four modes work and can run together (--auto runs in the background while --key-map or --stream is active).
• TopicRegistry tracks ownership; the autonomous tick checks it before publishing.
• Stream mode implements the seven methods with JSON-RPC 2.0 errors.
• Tracing goes to stderr; stdout is reserved for JSON-RPC and keymap logs.
• Startup prints a list of topics with no sim_freq.
• README documents the modes, keymap formats, and the stream protocol.
• cargo clippy --bin calypso-sim is clean.

Out of Scope

Stream subscribe for observing other programs, VCU-style request/response, Unix-socket transport, compile-time unsim list.

Builds on #292.