feat: interactive workflow for tip rack refilling

[pbeaucage]

The "refill tip racks" button/endpoint is a white-hot flashing "MESS UP MY EXPERIMENT" button if pressed remotely, as the state of the tip racks is lost and the only solution is to physically put hands on the robot to refill the tips.

It would be nice to have a flow where "reset_tipracks" required you to press the robot's button or otherwise confirm with a physical action that the tip racks are refilled. This shouldn't be that hard - the Opentrons API provides button access routes and some LED setting methods.

One annoyance is that you can't access the robot gpios when the robot server is running. So the startup script would need to stop the opentrons robot server and somehow restart it after our server starts successfully so we grab the gpios.

A side benefit is that we could actually interlock reliably to the door switch in server-run mode. (issue #35)