fix(api): Tip pickup call validation near wastechute

[CaseyBatten]

Special Note: This is a replacement for #14371 due to a potentially problematic keyerror bug that would occur on any height checking that resulted in a fixture being the highest item in the adjacent slots. This seeks to add back the capability of #14371 as well as fix that bug.

Overview

This seeks to fix issues related to RSS-375 and RSS-422.

Of note, this will only fix issues during runtime. Currently when in partial tip configuration the engine will attempt to check the height of object adjacent to the slot that an action (such as pickup tip) is occurring in. However, only the heigh of labware and module is checked, the system does not check for the height of fixtures loaded into the deck configuration.

To solve this, a method has been added to allow for searching of Cutout fixtures by deck slot name, and then the height of a returned fixture is then checked alongside the labware and module heights. If, for example a waste chute is loaded in D3 and a partial tip pickup is attempted in D2, the engine will raise an error.

Test Plan

Ensure that a protocol with a waste chute loaded in D3 with a 96 channel in partial tip configuration set to pick up tips from column A12 of a tiprack in D2 using column A1 of the instrument raises an error during operation before a collision would occur.
The following protocol ought to produce the expected results:

from opentrons.protocol_api import COLUMN, ALL

requirements = {
	"robotType": "Flex",
	"apiLevel": "2.16"
}

def run(protocol_context):
	tip_rack1 = protocol_context.load_labware("opentrons_flex_96_tiprack_50ul", "D2")
	instrument = protocol_context.load_instrument('flex_96channel_1000', mount="left", tip_racks=[tip_rack1])

	waste_chute = protocol_context.load_waste_chute()

	instrument.configure_nozzle_layout(style=COLUMN, start="A1")

	instrument.pick_up_tip(tip_rack1)
	instrument.drop_tip(waste_chute)

Risk assessment

While the robot will prevent a collision during runtime, a protocol where a crash would occur would still pass analysis. This is in part due to the fact that we do not load a true deck configuration for analysis, so when checking the set of loaded fixtures we see that there are "None", even if that is untrue. This is yet another item that would become simpler with multipass analysis.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (8485b67) 68.21% compared to head (8c66714) 68.21%.
Report is 14 commits behind head on edge.

❗ Current head 8c66714 differs from pull request most recent head c49401f. Consider uploading reports for the commit c49401f to get more accurate results

Additional details and impacted files

@@           Coverage Diff           @@
##             edge   #14415   +/-   ##
=======================================
  Coverage   68.21%   68.21%           
=======================================
  Files        2520     2520           
  Lines       71892    71892           
  Branches     9188     9188           
=======================================
  Hits        49042    49042           
  Misses      20677    20677           
  Partials     2173     2173           

Flag	Coverage Δ
g-code-testing	96.48% <ø> (ø)

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

Files	Coverage Δ
...pi/src/opentrons/protocol_engine/state/geometry.py	100.00% <ø> (ø)

[CaseyBatten]

Tested the protocol in the Testing Plan on Flex, resulted correctly with the following expected error:
Error 2004: PartialTipMovementNotAllowedError

Moving to Opentrons Flex 96 Tip Rack 50 µL in slot D2 with pipette column A1 nozzle configuration will result in collision with items in deck slot D3.

[SyntaxColoring]

This looks good to merge if it's been tested.

I have a few code-level comments, plus one bigger comment about how we're approaching this validation, architecturally.

[sanni-t]

Sorry for getting this in late. Added comments

[sanni-t]

Not sure what this means. Can you clarify?

[sanni-t]

Suggested change

	f"No Cutout was found in the Deck that matched provided slot {slot_name}."
	f"No Cutout matching the provided slot ({slot_name}) was found in the deck configuration."