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feat(vu): allow memory layout changes while the device runs

VuBackend rejected ADD_MEM_REG and REM_MEM_REG while the worker was
running: the worker could not use a new memory layout, and it used to
hold the layout lock until the device was reset.

Workers now move to the latest layout between events, so accept both
messages at any time. After a change, kick a running worker so that it
drops the old layout. The ChangeMemoryLayout error is gone.

Signed-off-by: Changyuan Lyu <changyuanl@google.com>

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