The SDK opened MCP connections through AgentLoop.process_direct but
never called close_mcp, leaving stdio MCP generators to be finalized
during asyncio shutdown from a different task, producing a RuntimeError
about exiting a cancel scope in a different task.
Add aclose() that delegates to AgentLoop.close_mcp (which already
drains background tasks and closes MCP stacks), plus __aenter__ and
__aexit__ so the SDK works as an async context manager.
Fixes#4211