fix hanging issue on gantry shutdown

[jgeaso1266]

This PR fixes a bug that prevents the gantry resource from shutting down. Essentially, a combination of lock issues and context issues are resolved.

[github-actions]

Availability

Scene #	viamrobotics:main	jgeaso1266:gantry-usability-fixes	Percent Improvement	Health
1	100%	100%	0%	➖
2	100%	100%	0%	➖
3	100%	100%	0%	➖
4	100%	100%	0%	➖
5	100%	100%	0%	➖
6	100%	100%	0%	➖
7	100%	100%	0%	➖
8	100%	100%	0%	➖
9	100%	100%	0%	➖
10	100%	100%	0%	➖
11	100%	100%	0%	➖

Quality

Scene #	viamrobotics:main	jgeaso1266:gantry-usability-fixes	Percent Improvement	Probability of Improvement	Health
1	1.31±0.00	1.31±0.00	-0%	45%	➖
2	0.90±0.00	0.90±0.00	-0%	50%	➖
3	5.99±0.15	5.96±0.15	0%	55%	➖
4	3.29±0.39	3.27±0.37	1%	52%	➖
5	9.52±3.00	9.15±2.45	4%	54%	➖
6	10.57±2.25	10.60±2.27	-0%	50%	➖
7	5.19±2.56	5.55±2.49	-7%	46%	➖
8	0.90±0.00	0.90±0.00	-0%	50%	➖
9	4.25±0.17	4.29±0.19	-1%	44%	➖
10	12.77±0.44	12.77±0.44	-0%	50%	➖
11	0.62±0.00	0.62±0.00	-0%	24%	➖

Performance

Scene #	viamrobotics:main	jgeaso1266:gantry-usability-fixes	Percent Improvement	Probability of Improvement	Health
1	0.03±0.01	0.02±0.01	6%	57%	➖
2	0.04±0.01	0.03±0.01	12%	67%	➖
3	0.03±0.00	0.03±0.00	-1%	47%	➖
4	0.16±0.03	0.18±0.05	-11%	37%	➖
5	1.43±0.12	1.44±0.12	-1%	47%	➖
6	1.86±0.54	1.87±0.51	-1%	49%	➖
7	2.67±1.90	2.31±1.64	14%	56%	➖
8	0.03±0.00	0.03±0.01	-9%	33%	➖
9	1.47±0.10	1.47±0.11	0%	50%	➖
10	2.86±0.45	2.84±0.44	1%	51%	➖
11	0.64±0.07	0.63±0.04	2%	57%	➖

The above data was generated by running scenes defined in the motion-testing repository
The SHA1 for viamrobotics:main is: 0e931489d131bab9318e21e661bd8bd8d4c13ade
The SHA1 for jgeaso1266:gantry-usability-fixes is: 0e931489d131bab9318e21e661bd8bd8d4c13ade

• 11 samples were taken for each scene

[JohnN193]

changed this so the motion service can match the model name with the frame config

[dgottlieb]

Thanks for making improvements here. This is hard for me to review. There are many glaring, existing, lifetime bugs in this component, so it's hard for me to say that the patch is "correct" vs band-aiding some of the existing code.

But I wholly expect you're submitting this because it fixed real observed problems, and I have no intention of standing in the way of that.

Very happy to pair up post-merge on my other observations and/or work together on doing a deeper clean of the lifetime management code.

[jgeaso1266]

Thanks Dan (and John)! I should've given some context. This PR is just fixing some band-aids as you mentioned, and I really just made it so I could get unblocked on the 20%. There definitely needs to be more discussion on the other big issues with the gantry component. Happy to set up a meeting with you guys to discuss more. In that vein, I'll just leave this PR open and not merge as to add to the potential tech debt later. Thanks again!