refactor(app): add move, positions, and disengage calls to robot-controls

[mcous]

overview

This PR follows up on the refactor work completed in #4440, #4477, #4544, #4599, #4615, #4631, #4646. The endpoints being recreated today are:

• GET /robot/positions
• POST /robot/move
• POST /motors/disengage

This PR does not wire up these actions because it will involve a fairly heavy rewrite of Change Pipette. That will be its own PR. As of this PR, all necessary endpoints for the wizard are in the new epic-based robot-controls module!

changelog

• Added movement controls to app/src/robot-controls
  • Added 3 actions (move + success / failure)
  • Added move and move error state to state.robotControls reducer
  • Added 1 epic (moveEpic) that:
    1. Calls GET /robot/positions
    2. Then calls POST /robot/move with result of GET /robot/positions
    3. Then calls POST /motors/disengage depending on the original action
  • Added tests for all of the above

review requests

Since this PR doesn't wire anything up to the UI, we can save functional testing for that upcoming PR. For this one, please make sure the code and added unit tests look reasonable!

If you have a robot handy, though, you can try this out in the redux devtools. Just make sure that the robot's attached pipettes are already in state

// move to change pipette position
{
  type: 'robotControls:MOVE',
  payload: {
    robotName: 'your-robot-name',
    position: 'changePipette',
    mount: 'left',
    disengageMotors: true
  },
  meta: {},
}

// move to attach tip pipette position
// requires attached pipettes in state to make the correct POST /robot/move request
{
  type: 'robotControls:MOVE',
  payload: {
    robotName: 'your-robot-name',
    position: 'attachTip',
    mount: 'left',
    disengageMotors: false
  },
  meta: {},
}

You should see the API calls in the network monitor. If disengageMotors is true, you should be able to move the pipette by hand once the calls complete. Afterwards, you should see a robotControls:MOVE_SUCCESS in the devtools.

[codecov]

Codecov Report

Merging #4651 into edge will increase coverage by 0.03%.
The diff coverage is 100%.

@@            Coverage Diff             @@
##             edge    #4651      +/-   ##
==========================================
+ Coverage   58.09%   58.12%   +0.03%     
==========================================
  Files         948      949       +1     
  Lines       26167    26216      +49     
==========================================
+ Hits        15201    15239      +38     
- Misses      10966    10977      +11

Impacted Files	Coverage Δ
app/src/robot-controls/epic/index.js	100% <ø> (ø)	⬆️
app/src/robot-controls/reducer.js	93.33% <ø> (ø)	⬆️
app/src/robot-controls/actions.js	100% <100%> (ø)	⬆️
app/src/robot-controls/epic/moveEpic.js	100% <100%> (ø)
app/src/robot-controls/constants.js	100% <100%> (ø)	⬆️
protocol-designer/src/ui/modules/selectors.js	50% <0%> (ø)	⬆️
protocol-designer/src/ui/steps/actions/thunks.js	14.7% <0%> (+1.06%)	⬆️

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[Kadee80]

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