Add lifecycle management for beads-mcp processes (bd-148)

- Register atexit handler to close daemon connections
- Add signal handlers for SIGTERM/SIGINT for graceful shutdown
- Implement cleanup() to close all daemon client connections
- Track daemon clients globally for cleanup
- Add close() method to BdDaemonClient (no-op since connections are per-request)
- Register client on first use via _get_client()
- Add comprehensive lifecycle tests

This prevents MCP server processes from accumulating without cleanup.
Each tool invocation will now properly clean up on exit.

Amp-Thread-ID: https://ampcode.com/threads/T-05d76b8e-dac9-472b-bfd0-afe10e3457cd
Co-authored-by: Amp <amp@ampcode.com>

.beads/bd.sock.startlock

@@ -1 +0,0 @@
-46949