feat(api): warn tc-lid/gantry collision in simulation

If a given protocol would target the labware loaded into a thermocycler module, while that module is
known to be closed, simulation will fail with a helpful message.

Closes #4044

api/src/opentrons/protocol_api/contexts.py

@@ -1653,6 +1653,21 @@ def move_to(self, location: types.Location, force_direct: bool = False,
                 self._mount, critical_point=cp_override),
             from_lw)
 
+        self._log.debug(f"\n\n\n\nlocation.labware: {location.labware}")
+        if location.labware:
+            self._log.debug(f"location.labware.parent: {location.labware.parent}")
+        self._log.debug(f"ctx modules: {self._ctx._modules}")
+
+        to_lw, to_well = geometry.split_loc_labware(location)
+        if isinstance(to_lw, Labware) and \
+                isinstance(to_lw.parent, ThermocyclerGeometry):
+            tc_context = next(m for m in self._ctx._modules \
+                              if isinstance(m._module, modules.thermocycler.Thermocycler))
+            if tc_context and tc_context.lid_position == 'closed':
+                raise RuntimeError(
+                    "Cannot move to labware loaded in Thermocycler"\
+                    " when lid is closed")
+
         moves = geometry.plan_moves(from_loc, location, self._ctx.deck,
                                     force_direct=force_direct,
                                     minimum_z_height=minimum_z_height)

api/src/opentrons/protocol_api/geometry.py

@@ -18,6 +18,16 @@ def max_many(*args):
     return functools.reduce(max, args[1:], args[0])
 
 
+def split_loc_labware(
+        loc: types.Location) -> Tuple[Optional[Labware], Optional[Well]]:
+    if isinstance(loc.labware, Labware):
+        return loc.labware, None
+    elif isinstance(loc.labware, Well):
+        return loc.labware.parent, loc.labware
+    else:
+        return None, None
+
+
 def plan_moves(
         from_loc: types.Location,
         to_loc: types.Location,
@@ -54,19 +64,10 @@ def plan_moves(
 
     assert minimum_z_height is None or minimum_z_height >= 0.0
 
-    def _split_loc_labware(
-            loc: types.Location) -> Tuple[Optional[Labware], Optional[Well]]:
-        if isinstance(loc.labware, Labware):
-            return loc.labware, None
-        elif isinstance(loc.labware, Well):
-            return loc.labware.parent, loc.labware
-        else:
-            return None, None
-
     to_point = to_loc.point
-    to_lw, to_well = _split_loc_labware(to_loc)
+    to_lw, to_well = split_loc_labware(to_loc)
     from_point = from_loc.point
-    from_lw, from_well = _split_loc_labware(from_loc)
+    from_lw, from_well = split_loc_labware(from_loc)
     dest_quirks = quirks_from_any_parent(to_lw)
     from_quirks = quirks_from_any_parent(from_lw)
     from_center = 'centerMultichannelOnWells' in from_quirks