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

[jbleon95]

Overview

Closes #9125

Adds pausing protocol execution if a door state hardware notification is detected to protocol engine. Protocol Engine hardware action and handlers renamed to reflect dealing with door events only, along with simplification of the door change action.

Changelog

• Pauses protocol execution upon DoorStateNotification
• Refactor and rename PE HardwareEvent names
• Remove legacy action handling

Review requests

Risk assessment

Low, mostly refactoring and renaming with only small and contained functionality added

[codecov]

Codecov Report

Merging #11021 (912d60f) into edge (53d3212) will decrease coverage by 0.00%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##             edge   #11021      +/-   ##
==========================================
- Coverage   73.80%   73.79%   -0.01%     
==========================================
  Files        2076     2076              
  Lines       57318    57351      +33     
  Branches     5729     5734       +5     
==========================================
+ Hits        42302    42322      +20     
- Misses      13778    13791      +13     
  Partials     1238     1238              

Flag	Coverage Δ
notify-server	89.17% <ø> (ø)

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

Impacted Files	Coverage Δ
.../src/opentrons/protocol_engine/actions/__init__.py	100.00% <ø> (ø)
...i/src/opentrons/protocol_engine/actions/actions.py	100.00% <100.00%> (ø)
...rc/opentrons/protocol_engine/execution/__init__.py	100.00% <100.00%> (ø)
...i/src/opentrons/protocol_engine/protocol_engine.py	100.00% <100.00%> (ø)
...pi/src/opentrons/protocol_engine/state/commands.py	99.50% <100.00%> (ø)
...opentrons/protocol_runner/legacy_context_plugin.py	100.00% <100.00%> (ø)
...colRun/SetupLiquids/LiquidsLabwareDetailsModal.tsx	86.36% <0.00%> (-8.09%)	⬇️
...e/hardware_control/motion_planning/move_manager.py	89.36% <0.00%> (-4.26%)	⬇️
...are/hardware_control/motion_planning/move_utils.py	89.83% <0.00%> (-1.61%)	⬇️
hardware/opentrons_hardware/scripts/move.py	0.00% <0.00%> (ø)
... and 14 more

[mcous]

LGTM, pending robot testing. Will approve once someone can work through these smoke tests

JSONv6, door pause setting off:

• Door open does nothing during LPC
• Door close does nothing during LPC
• Door open does nothing during protocol run
• Door close does nothing during protocol run

JSONv6, door pause setting on:

• Door open does nothing during LPC
• Door close does nothing during LPC
• Door open during protocol run pauses
• {"actionType": "play"} errors while door is still open
• Door close followed by {"actionType": "play"} resumes the run

PAPIv2, door pause setting off:

• Door open does nothing during LPC
• Door close does nothing during LPC
• Door open does nothing during protocol run
• Door close does nothing during protocol run

PAPIv2, door pause setting on:

• Door open does nothing during LPC
• Door close does nothing during LPC
• Door open during protocol run pauses
• {"actionType": "play"} errors while door is still open
• Door close followed by {"actionType": "play"} resumes the run

Edit: All above tested by @SyntaxColoring.

Changes addressed

[SyntaxColoring]

I haven't looked at the code, but I've run through @mcous's tests, and this appears to be working as specified.

[mcous]

Approving based on @SyntaxColoring's testing