Audit v3 fixes: all 3 tiers (19 findings)

Tier 1 (compilation + correctness):
- Fix nightly-only is_multiple_of → % 2 != 0 (stable Rust compat)
- Fix parse_sample_rate: check 192 before 96 (was returning wrong rate)
- macOS drive discovery: split unix.rs → linux.rs + macos.rs
- Linux: EACCES returns DevicePermission not DeviceNotFound
- CLI pipe.rs: Ctrl+C signal handler added

Tier 2 (correctness + security):
- MkvStream: reset demuxer after scanning→streaming transition
- Windows SPTI: zero data buffer before ioctl
- AACS cert verification: documented why silently skipped
- KEYDB: HOME + USERPROFILE fallback for Windows
- Library modules: pub(crate) for internal modules
- AACS: explicit re-exports, AES primitives pub(crate)

Tier 3 (performance + polish):
- IsoStream: batch 64-sector reads (was 1 sector at a time)
- DiscStream: buffer swap instead of copy in decrypt_and_buffer
- Vec capacity hints in TS/PS demuxer hot paths
- NetworkStream: TLS warning documented
- Batch rip: per-title progress display
- cargo fmt: 0 violations

319 tests, 0 fmt violations.

src/lib.rs

@@ -68,24 +68,24 @@
 //! | E7xxx | AACS errors |
 
 pub mod aacs;
-pub mod clpi;
+pub(crate) mod clpi;
 pub mod css;
 pub mod disc;
 pub mod drive;
 pub mod error;
 pub mod event;
-pub mod identity;
-pub mod ifo;
+pub(crate) mod identity;
+pub(crate) mod ifo;
 pub mod keydb;
-pub mod labels;
-pub mod mpls;
+pub(crate) mod labels;
+pub(crate) mod mpls;
 pub mod mux;
-pub mod platform;
-pub mod profile;
+pub(crate) mod platform;
+pub(crate) mod profile;
 pub mod scsi;
-pub mod sector;
-pub mod speed;
-pub mod udf;
+pub(crate) mod sector;
+pub(crate) mod speed;
+pub(crate) mod udf;
 
 pub use drive::{find_drive, find_drives, resolve_device, DriveSession};
 pub use error::{Error, Result};
@@ -111,3 +111,4 @@ pub use mux::{open_input, open_output, parse_url, InputOptions};
 pub use scsi::ScsiTransport;
 pub use sector::SectorReader;
 pub use speed::DriveSpeed;
+pub use udf::{read_filesystem, UdfFs};