feat(protocol-designer, step-generation): add prepareToAspirate

[ncdiehl11]

Overview

Here, I introduce and wire up the prepareToAspirate atomic command in step generation. This command is necessary for our in place commands: airGapInPlace and aspirateInPlace, which are curried when implementing air gap at a trash bin or waste chute addressable area.

Implicated by this introduction of prepareToAspirate between moveToAddressableArea and airGapInPlace are is protocol-designer/src/steplist/substepTimeline.ts. Previously, we gleaned information from accessing the moveToAddressableArea command preceding the inPlace command, presuming it was the direct preceding command. Now, those commands are separated by a prepareToAspirate command, so I introduce a utility to get the most recent moveToAddressableArea command relatvie to the inPlace command, and wire up in substepTimeline.ts

Note that prepareToAspirate does not affect robot state.

Closes RQA-3968

Test Plan and Hands on Testing

• create or import a protocol that uses a single-channel pipette to dispense to the trash or waste chute, ensuring a post-dispense blowout and air gap is configured.
• verify that the protocol emits 3 commands following this dispense: 1) moveToAddressableArea (trash entity) 2) prepareToAspirate, 3) airGapInPlace
• repeat with 8/96-channel pipettes

Changelog

• introduce and wire up prepareToAspirate atomic command in step generation
• fix logic for getting previous moveToAddressableArea command for inPlace commands

Review requests

see test plan

Risk assessment

medium. touches step generation commands

[koji]

the changes look good to me