refactor(api, shared-data): Module load location refactor for module cutout load and compound fixtures

[CaseyBatten]

Overview

Covers EXEC-1140, RABR-716, EXEC-1106

This PR introduces a engine refactor which will allow modules to "load" at the equipment and substate levels onto addressable areas for OT-2 (directly on the slot) or into cutout IDs for the Flex. It also enhances our location occupation validation logic to allow for more sophisticated checking of Fixtures and labware in regards to slot occupation. It removes custom hard coded logic that skipped the stacker (previously to enable functionality) and now instead supports compound fixtures in real validation (such as Waste chute with Flex Stacker or Magnetic Block with Flex Stacker). This also allows for fixtures, modules and labware to be loaded in any order so long as there would be no physical conflict with the locations referenced in a given load command.

To Do:

1. Fix existing test cases
2. Add new test cases which check each permutation for load order on compound spaces (Mag Block on D3, Labware on mag Block, Flex Stacker in D3)
3. The modules.py function get_by_slot(...) probably needs to be updated to return a list of modules, as we can now have more than one module in a slot...

Test Plan and Hands on Testing

• The following protocol should pass analysis, alongside permutations of the protocol which change load order:

from opentrons.protocol_api import ProtocolContext
requirements = {"robotType": "Flex", "apiLevel": "2.23"}

def run(protocol: ProtocolContext):
    stacker_b = protocol.load_module("flexStackerModuleV1", "B4")
    mag_block = protocol.load_module("magneticBlockV1", "B3")
    plate_on_mag = mag_block.load_labware("nest_96_wellplate_100ul_pcr_full_skirt")
    stacker_c = protocol.load_module("flexStackerModuleV1", "C4")
    
    stacker_d = protocol.load_module("flexStackerModuleV1", "D4")
    stacker_d.enter_static_mode()
    tiprack_d = stacker_d.load_labware("opentrons_flex_96_tiprack_1000ul")
    tiprack_c3 = protocol.load_labware("opentrons_flex_96_tiprack_1000ul", "C3")

    waste = protocol.load_waste_chute()
    protocol.move_labware(tiprack_d, waste, use_gripper=True)
    protocol.move_labware(tiprack_c3, waste, use_gripper=True)
    protocol.move_labware(plate_on_mag, waste, use_gripper=True)

    stacker_c.load_labware_to_hopper(
        "opentrons_flex_96_tiprack_1000ul", 2)
    stacker_b.load_labware_to_hopper(
        "opentrons_flex_96_tiprack_1000ul", 2)

Changelog

• Addition of addressable area view as a subject of the module view (may change if possible)
• In the module substate loaded modules are now in a dictionary of areas and cutout IDs rather than Deck Slot Names
• The engine now exclusively converts the provided load location into an addressable area, and will now either "load" the module "onto" that area (OT2) or will find the root cutoutID which provides that area and "load" the module "into" that cutout.

Review requests

Risk assessment

Medium to low - This only touches backend code and not core or API functionality, but we should make sure that no special labware movement or object load rules have had their behavior changed due to this.

[sfoster1]

Structure of this looks great, thank you!

[sfoster1]

nit: there's a deck configuration method that's something like get_deck_supports_cutout_fixtures() that might be a better call here

[vegano1]

🚀

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 26.25%. Comparing base (2f3849d) to head (84e6ab7).
Report is 2 commits behind head on edge.

Additional details and impacted files

@@            Coverage Diff             @@
##             edge   #17499      +/-   ##
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+ Coverage   26.17%   26.25%   +0.08%     
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  Files        2838     2799      -39     
  Lines      217730   215886    -1844     
  Branches     9280     9268      -12     
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- Hits        56989    56687     -302     
+ Misses     160724   159182    -1542     
  Partials       17       17              

Flag	Coverage Δ
protocol-designer	18.85% <ø> (-0.01%)	⬇️
step-generation	4.36% <ø> (+<0.01%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...DeviceDetailsDeckConfiguration/AddFixtureModal.tsx	0.00% <ø> (ø)
...rdware-sim/DeckConfigurator/FlexStackerFixture.tsx	9.43% <ø> (+1.43%)	⬆️
shared-data/js/constants.ts	100.00% <ø> (ø)

... and 50 files with indirect coverage changes

[github-actions]

A PR has been opened to address analyses snapshot changes. Please review the changes here: #17547

[github-actions]

A PR has been opened to address analyses snapshot changes. Please review the changes here: #17547