feat(api, shared-data): Move lid command implementation

[CaseyBatten]

Overview

Covers EXEC-1005

Introduce move_lid() command to PAPI. Allows the movement of lids from stacks and source labware to destination labwares, stacks, or trash location. When a lid stack is emptied, it is moved to the new "systemLocation" location.

Test Plan and Hands on Testing

• The following protocol should pass analysis and execute on a robot:

from typing import List, Dict, Any, Optional
from opentrons.protocol_api import ProtocolContext, Labware

metadata = {"protocolName": "Opentrons Flex Deck Riser with TC Lids Test"}
requirements = {"robotType": "Flex", "apiLevel": "2.23"}

LID_DEFINITION = "opentrons_tough_pcr_auto_sealing_lid"
DECK_RISER_NAME = "opentrons_flex_deck_riser"
USING_THERMOCYCLER = True

def run(protocol: ProtocolContext):
    # SETUP
    deck_riser_adapter = protocol.load_adapter(DECK_RISER_NAME, "A2")
    trash = protocol.load_trash_bin("A3")

    stack = protocol.load_lid_stack(LID_DEFINITION, "B2", 5)
    
    thermocycler = protocol.load_module("thermocyclerModuleV2")
    thermocycler.open_lid()
    plate_in_cycler = thermocycler.load_labware("armadillo_96_wellplate_200ul_pcr_full_skirt")


    protocol.move_lid(stack, plate_in_cycler, True)

    # Move the lid to the empty riser, creating a new lid stack
    used_stack = protocol.move_lid(plate_in_cycler, deck_riser_adapter, True)
    protocol.move_lid(stack, plate_in_cycler, True)
    protocol.move_lid(plate_in_cycler, used_stack, True)
    protocol.move_lid(stack, plate_in_cycler, True)
    protocol.move_lid(plate_in_cycler, used_stack, True)
    protocol.move_lid(stack, plate_in_cycler, True)
    protocol.move_lid(plate_in_cycler, used_stack, True)
    protocol.move_lid(stack, plate_in_cycler, True)
    protocol.move_lid(plate_in_cycler, used_stack, True)

    # Trash all the lids
    protocol.move_lid(used_stack, trash, True)
    protocol.move_lid(used_stack, trash, True)
    protocol.move_lid(used_stack, trash, True)
    protocol.move_lid(used_stack, trash, True)
    protocol.move_lid(used_stack, trash, True)

Changelog

Introduces new move_lid() PAPI commands, alongside new state update commands to allow for lid updating and lid stack invalidation.

Review requests

Does the approach to returning Labware or None for move lid make sense when we're dealing with creating a new lid stack by moving a lid? The thought process here is:

1. I have a lid stack in A1
2. I move a lid from the lid stack in A1 to an empty deck slot in A2
3. I have de facto created a new lid stack in A2, so I should create a stack there and return it to the user for handling
4. If no new stack has been created at the lid's new position, I should return Nothing

Risk assessment

Low, new behavior and it gated behind API 2.23. Also impossible to use on earlier API versions anyways given the lack of Lid labware IDs on parent labwares, lack of lid stacks, and lack of the optional lid field on labwares.

[sfoster1]

This makes sense to me, yeah. This is a lot of code that's now in both move labware and move lid, can we factor some of it into something common?

[CaseyBatten]

Note: Refactoring based on discussion regarding client and PD needs for load lid stack -> move labware -> move lid -> move labware command execution stackup.

[github-actions]

A PR has been opened to address analyses snapshot changes. Please review the changes here: #17299

[github-actions]

A PR has been opened to address analyses snapshot changes. Please review the changes here: #17299

[github-actions]

A PR has been opened to address analyses snapshot changes. Please review the changes here: #17299