feat: Run blocking plans via websockets

[tpoliaw]

As an intermediate step before (or instead of?) redesigning the server sub-process handling, we can add a websocket endpoint to run the same submit-listen-start approach that the client runs remotely.

[tpoliaw]

Rough next steps in no particular order

• Move websocket client method into BlueapiRestClient
• Add wrapper method in BlueapiClient?
• Add unstable/preview --ws flag to cli run method
• Deal with auth. Browser websocket api can't set headers
• Users + user-agents
• Include data/progress events
• Add service/meta events for error handling etc
• Handle client aborting
• Check interaction with server being busy
• Wrap pipe/unpipe into something that doesn't need finally handling
• See what happens when listeners fall over/slow down - do messages back up