feat(api): Return overpressure errors from aspirate and wait for their recovery

[SyntaxColoring]

Overview

Closes EXEC-376.

Test plan

Run a protocol that aspirate()s. Hold the well plate against the nozzles to induce an overpressure error.

from opentrons import protocol_api

requirements = {
    "apiLevel": "2.18",
    "robotType": "Flex",
}


def run(protocol: protocol_api.ProtocolContext) -> None:
    tip_rack = protocol.load_labware("opentrons_flex_96_tiprack_1000ul", "D2")
    well_plate = protocol.load_labware("nest_96_wellplate_100ul_pcr_full_skirt", "C3")

    protocol.load_trash_bin("A3")

    pipette = protocol.load_instrument("flex_96channel_1000")

    pipette.configure_nozzle_layout(protocol_api.COLUMN, start="A1")
    pipette.pick_up_tip(tip_rack["A12"])
    for _ in range(10):
        pipette.move_to(well_plate["A1"].bottom(-0.5))
        pipette.aspirate(1000)
        pipette.move_to(well_plate["A1"].top())
        pipette.blow_out()
    pipette.drop_tip()

With this PR, the run should pause and await recovery.

If you proceed to the next step, and that step is a blowout or home, the protocol should do that and then continue as normal. It will currently raise a MustHomeError for reasons that we think are related to firmware, and that we're looking into separately.

Changelog

• Update the Protocol Engine aspirate command so that if it encounters an overpressure during the actual aspirate step, it swallows the exception, converts it to a defined overpressure error, and returns it.
• Update our error recovery policy to put the run in an awaiting-recovery state when this happens.
• Update PAPI's bindings to Protocol Engine to wait for any potential error recovery to complete before returning from the aspirate().

Review requests

None in particular.

Risk assessment

Low.

[sfoster1]

This looks really good, exciting one to merge!