Add exec-server stub server and protocol docs (#15089)

Stacked PR 1/3.

This is the initialize-only exec-server stub slice: binary/client
scaffolding and protocol docs, without exec/filesystem implementation.

---------

Co-authored-by: Codex <noreply@openai.com>

codex-rs/exec-server/src/bin/codex-exec-server.rs

@@ -0,0 +1,20 @@
+use clap::Parser;
+use codex_exec_server::ExecServerTransport;
+
+#[derive(Debug, Parser)]
+struct ExecServerArgs {
+    /// Transport endpoint URL. Supported values: `ws://IP:PORT` (default),
+    /// `stdio://`.
+    #[arg(
+        long = "listen",
+        value_name = "URL",
+        default_value = ExecServerTransport::DEFAULT_LISTEN_URL
+    )]
+    listen: ExecServerTransport,
+}
+
+#[tokio::main]
+async fn main() -> Result<(), Box<dyn std::error::Error + Send + Sync>> {
+    let args = ExecServerArgs::parse();
+    codex_exec_server::run_main_with_transport(args.listen).await
+}