starr-openai 83af3abc68 Refactor exec-server websocket pump (#23327)
## Why
Exec-server websocket handling had separate reader and writer tasks for
the same socket. That made websocket control-frame handling asymmetric:
the task reading frames could observe `Ping`, but the task allowed to
write frames was elsewhere. This PR moves each physical websocket onto
one always-running pump so the socket owner can handle application
frames and websocket control frames together.

## What changed
- Refactored direct exec-server websocket connections in `connection.rs`
to use one task that owns the websocket for outbound JSON-RPC, inbound
JSON-RPC, periodic keepalive pings, and `Ping` -> `Pong` replies.
- Refactored relay websocket handling in `relay.rs` the same way for
both the harness-side logical connection and the multiplexed executor
physical socket.
- Preserved the existing keepalive ownership policy: outbound direct
websocket clients still send periodic pings, inbound Axum accepts only
reply with pongs, and relay physical websocket endpoints keep their
existing periodic pings.
- Added focused websocket pump tests for ping/pong, binary JSON-RPC,
relay data, malformed relay text frames, and close/disconnect behavior.
- Reconnect behavior is intentionally left for a follow-up.

## Validation
- Devbox Bazel focused unit target:
- `//codex-rs/exec-server:exec-server-unit-tests
--test_filter='websocket_connection_|harness_connection_|multiplexed_executor_'`
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