Add disc format parsers: UDF, MPLS, CLPI

- udf.rs: read files from Blu-ray disc filesystem
- mpls.rs: parse playlists → titles with clips and timestamps
- clpi.rs: parse clip info → EP map with coarse/fine SPN entries
- disc.rs: high-level title scanning, sector extent mapping
- drive.rs: add read_disc() for unencrypted reads, scsi_execute()
- error.rs: add E6000 DiscError

Stage 1 of freemkv rip: identify titles and their sector ranges.

src/lib.rs

@@ -41,6 +41,10 @@ pub mod platform;
 pub mod drive;
 pub mod identity;
 pub mod speed;
+pub mod udf;
+pub mod mpls;
+pub mod clpi;
+pub mod disc;
 
 pub use error::{Error, Result};
 pub use drive::DriveSession;
@@ -49,3 +53,4 @@ pub use profile::{DriveProfile, Chipset};
 pub use platform::{Platform, DriveStatus};
 pub use scsi::ScsiTransport;
 pub use speed::DriveSpeed;
+pub use disc::{Title, Clip, Extent};