hyperion-blueapi does not do UDC cleanup after handing back the baton if we don't have a visit

`hyperion-blueapi` doesn't call the `clean_up_udc` plan, because `baton_handler` expects a visit. However

* even if we don't have a visit, arguably we should call `clean_up_udc` anyway because we no longer need a visit to do an unload and we should do other clean up things (notably close the detector shutter)
* ~also, we should read the return value from the load_centre_collect_plan, this would allow us to record the unload event.~
The visit is derived from the value specified by agamemnon so we do not need to read a return value from blueapi

## Acceptance Criteria
- robot unload and detector shutter close is performed after handing back the baton (happy-path)
- detector shutter close only is performed after handing back the baton (unhappy path if there was an exception)

For both blueapi and in-process UDC