merge: AgentProject membership — the junction is now load-bearing

Merges feat/agent-project-membership (task 166/152). An agent can finally join
many projects: membership routes, per-membership role and optional brain
override, chat resolving context from the membership, and CLI attach-agent /
detach-agent / get memberships. The legacy Agent.projectId fallback is kept for
this release as the schema comment promises.

Conflict resolved in main.ts: that branch added its RBAC case to
mapUrlToPermission inline, while this branch had extracted the function to
middleware/url-permission.ts so it could be tested. Kept the extraction and
ported the case into it — joining a team is `edit:agents:<name>`, not
`create:agents`, which is the authority to mint a whole agent.

Also fixes something the extraction makes possible. security.test.ts contained a
hand-copied reproduction of mapUrlToPermission, because main.ts self-invokes
main() and nothing in it was importable. A security test asserting against a
copy stops testing the system the moment the real one changes, and this copy had
already drifted. It now imports the real function; all 18 assertions still pass,
against the code that actually runs.

Local: build clean, workspace 2550 passed, lint unchanged at 794 errors.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01N4wNHWf7xSwnZCWpJcyv9p

.taskmaster/tasks/task_131.md

@@ -0,0 +1,30 @@
+# Task ID: 131
+
+**Title:** Task routes and API endpoints
+
+**Status:** pending
+
+**Dependencies:** 130
+
+**Priority:** medium
+
+**Description:** Create Task routes with CRUD, transition, verdict, accept/reject, and events endpoints
+
+**Details:**
+
+Create src/mcpd/src/routes/task.routes.ts:
+1. GET /api/v1/tasks - list with ?project=&epictask=&state=&assignee= filters
+2. POST /api/v1/tasks - create
+3. GET /api/v1/tasks/:id - get
+4. PUT /api/v1/tasks/:id - update
+5. DELETE /api/v1/tasks/:id - delete
+6. POST /api/v1/tasks/:id/transition - { toState, note? }
+7. POST /api/v1/tasks/:id/verdict - record QA/Security/SRE verdict
+8. POST /api/v1/tasks/:id/accept - { note? } human gate → merge
+9. POST /api/v1/tasks/:id/reject - { note } → back to in_progress
+10. GET /api/v1/tasks/:id/events - list TaskEvents
+11. Register in main.ts
+
+**Test Strategy:**
+
+Route tests: test CRUD, test transition endpoint, test verdict recording, test accept triggers merge, test reject changes state, test events returns ordered list.