asap-planner: --planner legacy|milp integration #764

Change

Wire the MILP into the production planner: asap-planner --planner legacy|milp (default legacy).

• MILP-only inputs: --atomic-costs, --atomic-cost-workload, label-set facts file; required with milp.
• PromQL only; milp with sql/elastic is an argument error.
• Error if windowing, sketch_parameters, or non-zero range_duration_ms/step_ms are set. Honor aggregate_cleanup. Ignore enable_punting / existing_*_config.
• Output: map OptimizerSolution → IntermediateAggConfig + query refs and reuse the legacy YAML writer (build_aggregation_entry, build_queries_yaml) → PlannerOutput.
• Test: plan with milp, then parse the output with the engine's from_yaml_data.
• Add HiGHS build deps to asap-planner-rs/Dockerfile.

Part of #753.

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