feat(engine): pause protocol execution if front door is opened

[mattwelch]

Overview

As a JSONv6 protocol operator with my robot's "pause execution if door is open" setting turned on, I'd like my protocol run to automatically pause if my robot's front door is opened.

Acceptance criteria

If the door pause setting is enable:

• If the front-door is opened while a protocol run is ongoing, the engine and hardware API are paused
• If the front-door is opened during protocol setup (i.e. LPC), the engine continues to process commands

Implementation notes

• The behavior is currently implemented in the LegacyContextPlugin for PAPIv2 protocols
  • We can probably move at least aspects of that implementation over to the engine proper
• We can check the command store's started_at field to know if the run has been started and if we should pause due to a door open
• Care should be taken to make sure this interacts cleanly with refactor(engine): pause HardwareAPI when engine is paused #7923
  • This is also already a concern of LegacyContextPlugin

[mcous]

Ticket under investigation as potential 6.1.0 release requirement

[mcous]

This ticket is required for the 6.1.0 release. Updated tracking information accordingly

[mcous]

After #10882 is merged, this is my implementation proposal to bring this home:

• Rename HardwareEventForwarder to DoorWatcher
• Simplify HardwareEventAction to DoorChangeAction
  • We don't use any other hardware events
  • When we do in the future, I don't want to continue to use this callback interface; it's too dangerous with the ThreadManager and protocol child thread in place
• On door change notification from the hardware control API:
  1. Check if queue status is running
  2. If it is, pause the hardware API
  3. Dispatch a DoorChangeAction with the door state
• Remove remaining action handling from the LegacyContextPlugin, and perhaps remove the abstract handle_action method from the generic plugin interface, too