fix(api): try to open thermocycler lid before throwing an error

[caila-marashaj]

Overview

Sometimes, in response to a lack of error-handling from the thermocyler firmware, and rarely from reasons yet unknown, it's possible for the thermocycler to lose track of its lid's position status. Most of the time this happens, the lid is already all the way open, and just barely backed off the limit switch. However, because it's backed off the limit switch, the robot server doesn't know the lid's position and throws a ThermocyclerLidNotOpenError. It's possible to fix this issue most if not all of the time by attempting to open the lid until we find the lid-open limit switch.

This code changes the robot-server protocol for this to check if the thermocycler lid is open. If the position is IN_BETWEEN or UNKNOWN, try to open the lid and check the status again. If the status at this point is still anything besides OPEN, throw a ThermocyclerLidNotOpenError.

Changelog

• make ThermocyclerMovementFlagger take in an EquipmentHandler, so it can command the tc lid to move
• change ThermocyclerMovementFlagger::raise_if_labware_in_non_open_thermocycler to ThermocyclerMovementFlagger::ensure_labware_in_open_thermocycler, and have it try to open the tc lid before throwing an error

Also closes RABR-736

[SyntaxColoring]

Makes sense!

Changes requested for:

1. What I think is a logic bug, but double-check my thinking.
2. Optional arguments muddying the waters of where these helpers and their dependencies ought to be constructed

[SyntaxColoring]

Thanks!

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 23.62%. Comparing base (bfefd85) to head (55fa1d1).
Report is 3 commits behind head on edge.

Additional details and impacted files

@@            Coverage Diff             @@
##             edge   #18255      +/-   ##
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- Coverage   23.62%   23.62%   -0.01%     
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  Files        3055     3055              
  Lines      255734   255734              
  Branches    30114    30120       +6     
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- Hits        60419    60410       -9     
- Misses     195301   195310       +9     
  Partials       14       14              

Flag	Coverage Δ
app	3.11% <ø> (-0.01%)	⬇️
protocol-designer	19.06% <ø> (ø)
step-generation	4.55% <ø> (-0.01%)	⬇️

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see 1 file with indirect coverage changes

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