Use compaction dynamic config to enable compaction supervisors

[kfaraz]

Description

#16768 introduces the option to run compaction as a supervisor on Overlord instead of via coordinator duties.
It also packages several improvements over the traditional compaction duty, such as support for using
the MSQ engine to launch compaction tasks.

However, that patch relies on an Overlord runtime property to enable/disable this feature, which can be
cumbersome and error prone, given that both Coordinator and Overlord need to be aware of it.
It also leads to a poorer design since half of compaction-related features are controlled by the compaction
dynamic config whereas the other half is controlled by the runtime properties.

This patch reconciles the two by simply using compaction dynamic config for all purposes.
It has the added benefit of allowing a quick switch between Overlord supervisor and Coordinator duty, in
case something misbehaves or perhaps for testing purposes.

Changes

• Remove runtime property object CompactionSupervisorConfig
• Add fields useSupervisors and engine to cluster-level compaction dynamic config
• Remove unused field useAutoScaleSlots

Release note

TODO

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This PR has:

• been self-reviewed.
  • using the concurrency checklist (Remove this item if the PR doesn't have any relation to concurrency.)
• added documentation for new or modified features or behaviors.
• a release note entry in the PR description.
• added Javadocs for most classes and all non-trivial methods. Linked related entities via Javadoc links.
• added or updated version, license, or notice information in licenses.yaml
• added comments explaining the "why" and the intent of the code wherever would not be obvious for an unfamiliar reader.
• added unit tests or modified existing tests to cover new code paths, ensuring the threshold for code coverage is met.
• added integration tests.
• been tested in a test Druid cluster.