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fix: resolve controlling TTY for hook processes without /dev/tty
Claude Code spawns hook processes without a controlling terminal, so
`printf ... > /dev/tty` fails with "Device not configured" (ENXIO) and
the OSC notification is silently dropped — Warp never receives the
cli-agent event (no notifications, status, or footer ever appear).
Add a shared resolve-tty.sh helper that walks up the process tree to an
ancestor (the claude process or its parent shell) that still has a
controlling tty, and writes the OSC sequence to that device node.
Falls back to /dev/tty when no ancestor tty is found, so behavior is
unchanged in environments where /dev/tty already works.
Applies to both the structured (warp-notify.sh) and legacy
(legacy/warp-notify.sh) notification paths.
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