Catch YAML typos and fix concurrent run crashes

Running several CLI processes on one machine is now reliable, and mistakes in procedure YAML surface immediately instead of being silently ignored.

• Fixed concurrent runs and station commands interfering with each other through the shared state database: the lock is now held only while in use and contention waits politely instead of interrupting other processes
• Added strict procedure YAML validation: unknown fields like phases: or value: now fail with a clear error naming the field instead of being silently ignored
• Fixed orphaned Python worker processes surviving after runs, tofupilot run file.yml ignoring the given file, and timeout phases reporting zero duration