rtspsrc: fix and improve async handling

rtspsrc: fix and improve async handling

Simplify the command handling; passing a command to thread means we really
want it to get the message, which means to always flush provided the command
can handle being interrupted.  Command thread indicates whether command
allows interruption and ensure non-flushing connection as it subsequently
needs it.

In particular, this also makes the TEARDOWN sequence interruptable
and also prevents races where _loop_ could miss a command and would
continue receiving (or at least trying to).

See #632504.