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Drop legacy registry format support (#5067)

* Drop legacy registry format support

Now that the v0.1 work standardizes on the upstream MCP format, the
parser and validators no longer need to accept the legacy ToolHive
format alongside it. The auto-detect helpers, deprecation warnings,
and duplicated format-discriminator code make the parsing path
harder to reason about and earn nothing.

- pkg/registry/upstream_parser.go: drop isUpstreamFormat,
  parseRegistryAutoDetect, and the legacy fallback branch; rename
  the upstream-only parser to parseRegistryData. Detect legacy
  input up front and return errLegacyFormat with a migration hint
  pointing at `thv registry convert` (added in #5071) — without
  this, Go's JSON decoder silently produces an empty
  UpstreamRegistry, leaving callers with no servers and no error.
- pkg/registry/provider_{local,remote}.go: collapse the auto-detect
  branches into a single upstream parse and remove the
  legacy-format warning.
- pkg/config/registry.go: drop the duplicated isUpstreamRegistryFormat
  / registryHasServers helpers; both validators now parse only into
  UpstreamRegistry. Surface the same migration hint when a legacy
  file or URL is supplied to set-registry-file/set-registry-url.
- Convert legacy fixtures across pkg/registry, pkg/config, and
  pkg/api/v1 unit tests to the upstream format.
- docs/registry/schema.md: drop the legacy-schema section, point at
  the upstream schemas in toolhive-core, and document the migration
  command.

Depends on #5071 (the converter) so the migration hint resolves to
a real command.

* Address review follow-ups for legacy-format removal

- Convert examples/registry-with-remote-servers.json to upstream
  format. The legacy version was rejected at runtime and could not be
  auto-migrated by `thv registry convert` because it used lowercase
  `tier: "community"`, which fails the upstream schema's enum.
- Refresh docs/registry/schema.md test descriptions; the legacy-schema
  te... (continued)

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