feat(api): warn tc-lid/gantry collision in simulation (#4394)

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/docs/v2/new_protocol_api.rst

@@ -37,7 +37,7 @@ Modules
 
 .. autoclass:: opentrons.protocol_api.contexts.ThermocyclerContext
    :members:
-   :exclude-members: total_step_count, current_cycle_index, total_cycle_count, hold_time, ramp_rate, current_step_index
+   :exclude-members: total_step_count, current_cycle_index, total_cycle_count, hold_time, ramp_rate, current_step_index, flag_unsafe_move
    :inherited-members:
 
 

api/src/opentrons/protocol_api/contexts.py

@@ -1667,6 +1667,10 @@ def move_to(self, location: types.Location, force_direct: bool = False,
                 self._mount, critical_point=cp_override),
             from_lw)
 
+        for mod in self._ctx._modules:
+            if isinstance(mod, ThermocyclerContext):
+                mod.flag_unsafe_move(to_loc=location, from_loc=from_loc)
+
         moves = geometry.plan_moves(from_loc, location, self._ctx.deck,
                                     force_direct=force_direct,
                                     minimum_z_height=minimum_z_height)
@@ -2166,6 +2170,17 @@ def _prepare_for_lid_move(self):
                     z=high_point[Axis.by_mount(instr._mount)])
             instr.move_to(types.Location(safe_point, None), force_direct=True)
 
+    def flag_unsafe_move(self,
+                         to_loc: types.Location,
+                         from_loc: types.Location):
+        to_lw, to_well = geometry.split_loc_labware(to_loc)
+        from_lw, from_well = geometry.split_loc_labware(from_loc)
+        if (self.labware is to_lw or self.labware is from_lw) and \
+                self.lid_position == 'closed':
+            raise RuntimeError(
+                "Cannot move to labware loaded in Thermocycler"
+                " when lid is closed")
+
     @cmds.publish.both(command=cmds.thermocycler_open)
     @requires_version(2, 0)
     def open_lid(self):

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