refactor(robot-server): start pulling routers to top-level modules

[mcous]

Overview

This PR starts to re-organize the robot-server module a little bit to make various important imports less deep and to reduce time and cognitive load to go from "I need to change out /xyz endpoint works" to actually writing code.

Overall principles:

• Map endpoint paths to top-level directories
  • e.g. stuff for /heath goes in robot_server/health
• Organize stuff by domain first
  • e.g. health/router.py + health/models.py is easier than routers/health.py + models/health.py
• Explicitly export from modules via __all__

Changelog

• Moved robot_server/service/app.py to robot_server/app.py
  • Also removed unused robot_server/main.py
  • Updated service file, Makefile, and integration test fixture to account for this move
  • Added CORS middleware to the server
• Moved top-level router from app.py to robot_server/router.py
• Moved /health logic to robot_server/health/
  • Moving forward, I think we should reconsider classifying the health endpoint as "legacy", given its importance
    • I think tweaking the response is definitely on the table, though
  • Previously, this logic lived in:
    • robot_server/service/legacy/models/health.py
    • robot_server/service/legacy/routers/health.py
• Moved /system logic to robot_server/system/
  • Previously lived in:
    • robot_server/system/time.py (Time utilities)
    • robot_server/service/system/models.py
    • robot_server/service/system/router.py
• Deduplicated route dependencies
  • Moved all instances of the version check to the top-level router attachment
  • Combined verify_hardware and get_hardware
• Added CORS middleware to FastAPI to accept all origins
  • Closes feat: Adding "CORS" policy to opentrons APP #7599

Review requests

The riskiest changes here are:

• Moving the main app export
• Dependency deduping, especially around hardware and version header checking

I'd say we'd want to smoke test:

• The full OS build for this branch
• The schema endpoint output
• The docs endpoint(s) output

Risk assessment

Pretty low, provided we run the smoke tests above. Integration / unit test coverage is good for the endpoints that were moved

[codecov]

Codecov Report

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[mcous]

Discussed in CPX Slack, got 👍's all around to merge