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

[b-cooper]

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

review requests

Attempt to upload a protocol in which you:

• close the TC lid and then pipette into it (should raise)
• close the TC lid and then pipette from it (should raise)
• pipette into it with lid open (should simulate)

[codecov]

Codecov Report

Merging #4394 into edge will increase coverage by 1.06%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             edge    #4394      +/-   ##
==========================================
+ Coverage   56.01%   57.07%   +1.06%     
==========================================
  Files         899      899              
  Lines       25492    26600    +1108     
==========================================
+ Hits        14280    15183     +903     
- Misses      11212    11417     +205

Impacted Files	Coverage Δ
protocol-designer/src/step-forms/utils.js	51.16% <0%> (-9.95%)	⬇️
opentrons/server/endpoints/update.py	22.44% <0%> (-0.81%)	⬇️
...er/src/components/modals/EditModulesModal/index.js	0% <0%> (ø)	⬆️
opentrons/protocol_api/geometry.py	99.32% <0%> (ø)	⬆️
...col-designer/src/components/DeckSetup/DeckSetup.js	0% <0%> (ø)	⬆️
...p/src/components/ChangePipette/PipetteSelection.js	0% <0%> (ø)	⬆️
opentrons/legacy_api/modules/tempdeck.py	70.21% <0%> (+0.21%)	⬆️
opentrons/protocol_api/contexts.py	88.51% <0%> (+0.45%)	⬆️
opentrons/protocol_api/util.py	92.95% <0%> (+0.8%)	⬆️
opentrons/drivers/smoothie_drivers/driver_3_0.py	76.46% <0%> (+1.23%)	⬆️
... and 4 more

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[sfoster1]

Functionality looks good but I'd love to see a slight reorganization where this checking is the responsibility of the module context.

[sfoster1]

Since module geometries hold refs to their child labware, could we do:

tc = next(m for m in in self._ctx._modules if isinstance(m, ThermocyclerContext))
if tc and tc.labware is to_lw or tc.labware_is from_lw and tc.lid_position=='closed':
    raise

And maybe make it a method of the thermocycler context? I think that way move_to would look a bit cleaner, basically saying "if we have a thermocycler, ask it if this move is OK". and if we add more modules that have motion restrictions (and we certainly could, right - this could be the place we check for those north/south collisions if we ever decide to do that) we'll add similar helpers for other modules without having their implementations padding out move_to.

[sfoster1]

code lgtm, haven't tested yet

[sfoster1]

Also tested locally in simulation