refactor(emulation): emulation refactor

[amitlissack]

Overview

This PR refactors how our module emulation works.

This is part 1. While the connection model has changed, the emulator module discovery has NOT changed. The hardware controller still relies on environment variables to connect to emulated modules.

This is part 2

Changelog

• Module emulators are no longer be socket servers, but clients.
• Added Proxy class to treat emulator client connections as a resource to be acquired by a driver client connection. Data is routed from driver socket to emulator socket.
• One Proxy server per module type.
• Added ModuleStatusServer that notifies clients of available emulators over a socket. This is the emulator's equivalent of aionotify module discovery on the robot.

Review requests

While almost all of the changes only relate to emulation, there are a few changes to hardware controller that will require some testing:

• Slight refactors of ModuleControl class. Specifically how USB objects are constructed.
• Module classes explicitly disconnect during clean up .

Risk assessment

Very low

[codecov]

Codecov Report

Merging #8587 (5b2191b) into edge (80093b3) will increase coverage by 0.13%.
The diff coverage is 88.59%.

@@            Coverage Diff             @@
##             edge    #8587      +/-   ##
==========================================
+ Coverage   75.22%   75.36%   +0.13%     
==========================================
  Files        1208     1830     +622     
  Lines       37931    48595   +10664     
  Branches     2792     4706    +1914     
==========================================
+ Hits        28535    36622    +8087     
- Misses       8995    11173    +2178     
- Partials      401      800     +399     

Flag	Coverage Δ
api	84.71% <88.48%> (+0.06%)	⬆️
g-code-testing	97.28% <89.58%> (?)
robot-server	93.70% <ø> (+0.25%)	⬆️

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

Impacted Files	Coverage Δ
api/src/opentrons/hardware_control/simulator.py	85.41% <ø> (-0.20%)	⬇️
...rons/hardware_control/emulation/scripts/run_app.py	71.42% <71.42%> (ø)
...e_control/emulation/scripts/run_module_emulator.py	75.00% <75.00%> (ø)
...ardware_control/emulation/module_server/helpers.py	76.36% <76.36%> (ø)
...hardware_control/emulation/module_server/server.py	80.00% <80.00%> (ø)
...pi/src/opentrons/hardware_control/emulation/app.py	88.00% <86.66%> (+10.22%)	⬆️
g-code-testing/g_code_parsing/g_code_engine.py	92.50% <88.37%> (ø)
.../src/opentrons/hardware_control/emulation/proxy.py	91.76% <91.76%> (ø)
...hardware_control/emulation/module_server/client.py	94.11% <94.11%> (ø)
...entrons/hardware_control/emulation/run_emulator.py	96.00% <96.00%> (ø)
... and 649 more

[sfoster1]

Nice, I like it. It's a little weird to me that you have to write code to specify which modules get loaded but I guess that's in the followup pr and also not hard to change.

[DerekMaggio]

Reviewed this last week and forgot to approve. My bad