fix(bft): potential deadlock in the consensus ticker on close (#2264)

This PR addresses a potential deadlock issue that can occur if
`ScheduleTimeout` is used after the `timeoutTicker` service has been
stopped. This problem has been observed in some CI jobs when stopping
the node:
https://github.com/gnolang/gno/actions/runs/9301771431/attempts/1
(thanks @thehowl).

The stacktrace indicates that `timeoutTicker` has likely been closed
before `ConsensusState`, and `ConsensusState` is getting stuck while
calling `ScheduleTimeout` because the `tickChan` will never be read.

The proposed solution is to simply ignore any scheduled timeouts if the
`timeoutTicker` service has been closed.

I've extracted the relevant part of the stacktrace:
- The first stack shows the `ConsensusReactor` waiting for
`ConsensusState` on stop.
- The second stack shows `ConsensusState` waiting to `ScheduleTimeout`
on the `timeoutTicker`.
 
```
coverage: 53.8% of statements
panic: test timed out after 30m0s
running tests:
	TestTestdata (30m0s)
	TestTestdata/gnoland (29m54s)

---

goroutine 11039 [chan receive, 29 minutes]:
github.com/gnolang/gno/tm2/pkg/bft/consensus.(*ConsensusState).Wait(...)
	/home/runner/work/gno/gno/tm2/pkg/bft/consensus/state.go:376
github.com/gnolang/gno/tm2/pkg/bft/consensus.(*ConsensusReactor).OnStop(0xc000176a00)
	/home/runner/work/gno/gno/tm2/pkg/bft/consensus/reactor.go:92 +0x75
github.com/gnolang/gno/tm2/pkg/service.(*BaseService).Stop(0xc000176a00)
	/home/runner/work/gno/gno/tm2/pkg/service/service.go:168 +0x22e
github.com/gnolang/gno/tm2/pkg/p2p.(*Switch).OnStop(0xc000396600)

---

goroutine 15586 [chan send, 29 minutes]:
github.com/gnolang/gno/tm2/pkg/bft/consensus.(*timeoutTicker).ScheduleTimeout(0x1d4e957d?, {0x5ed0bdb, 0x7, 0x0, 0x1})
	/home/runner/work/gno/gno/tm2/pkg/bft/consensus/ticker.go:71 +0x30
github.com/gnolang/gno/tm2/pkg/bft/consensus.(*ConsensusState).scheduleTimeout(...)
	/home/runner/work/gno/gno/tm2/pkg/bft/consensus/state.go:472
github.com/gnolang/gno/tm2/pkg/bft/consensus.(*ConsensusState).scheduleRound0(0xc000ff7508, 0xc000ff7598)
	/home/runner/work/gno/gno/tm2/pkg/bft/consensus/state.go:467 +0x8b
...
github.com/gnolang/gno/tm2/pkg/bft/consensus.(*ConsensusState).tryAddVote(0xc000ff7508, 0x41bdda?, {0x0?, 0x7f11457181a8?})
	/home/runner/work/gno/gno/tm2/pkg/bft/consensus/state.go:1518 +0x2f
github.com/gnolang/gno/tm2/pkg/bft/consensus.(*ConsensusState).handleMsg(0xc000ff7508, {{0x12fc4c0, 0xc000fe59f0}, {0x0, 0x0}})
	/home/runner/work/gno/gno/tm2/pkg/bft/consensus/state.go:696 +0xf8
github.com/gnolang/gno/tm2/pkg/bft/consensus.(*ConsensusState).receiveRoutine(0xc000ff7508, 0x0)
	/home/runner/work/gno/gno/tm2/pkg/bft/consensus/state.go:655 +0x452
created by github.com/gnolang/gno/tm2/pkg/bft/consensus.(*ConsensusState).OnStart in goroutine 11039
	/home/runner/work/gno/gno/tm2/pkg/bft/consensus/state.go:349 +0x4ef

---
```

<details><summary>Contributors' checklist...</summary>

- [ ] Added new tests, or not needed, or not feasible
- [ ] Provided an example (e.g. screenshot) to aid review or the PR is
self-explanatory
- [ ] Updated the official documentation or not needed
- [ ] No breaking changes were made, or a `BREAKING CHANGE: xxx` message
was included in the description
- [ ] Added references to related issues and PRs
- [ ] Provided any useful hints for running manual tests
- [ ] Added new benchmarks to [generated
graphs](https://gnoland.github.io/benchmarks), if any. More info
[here](https://github.com/gnolang/gno/blob/master/.benchmarks/README.md).
</details>

Signed-off-by: gfanton <[email protected]>

tm2/pkg/bft/consensus/ticker.go

@@ -67,8 +67,13 @@ func (t *timeoutTicker) Chan() <-chan timeoutInfo {
 // ScheduleTimeout schedules a new timeout by sending on the internal tickChan.
 // The timeoutRoutine is always available to read from tickChan, so this won't block.
 // The scheduling may fail if the timeoutRoutine has already scheduled a timeout for a later height/round/step.
+// If the service has been closed, the timeout will be ignored.
 func (t *timeoutTicker) ScheduleTimeout(ti timeoutInfo) {
-	t.tickChan <- ti
+	select {
+	case t.tickChan <- ti:
+	case <-t.Quit():
+		t.Logger.Warn("Unable to schedule timeout as service has been closed")
+	}
 }
 
 // -------------------------------------------------------------