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This adds the suit_worker_try_prepare / suit_worker_trigger_prepared pair for using the SUIT worker, and breaks suit_handle_manifest_buf out of suit_handle_url (where the latter now calls the former). As part of factoring out reaping of the zombie worker thread, a locking error that deadlocks the SUIT worker in case the race between the mutex being unlocked and the thread being reaped hits the necessary handling code is fixed (and mutex_unlock is called in the error path).