fix(api): Add ready-to-aspirate into engine state so analysis correctly fails

[ryanthecoder]

Overview

The "ready to aspirate" state was previously only known to the hardware control layer, this adds the state updates to the protocol engine so that commands will fail analysis when steps would produce an error at runtime without removing any of the hardware layer checks.

This stems from a scenario where the following steps would produce a "not ready to aspirate" error at runtime but pass analysis.

1. Pipette picks up tips
2. Does an air gap
3. Does an aspirate
4. does a dispense with push out
5. does an airgap command

Since we automatically do a prepare-to-aspirate as part of the aspirate command and the pick up tip, it successfully passes step 2 but we don't automatically do it during dispense or air gap so when the hardware attempts to start step 5, and step 4 leaves it in an "not-ready" state the hardware controller fails at runtime.

This PR updates all of the various protocol engine command that effect the "ready" state to have a new StateUpdate element that stores the current state in the state view. this way analysis will fail when a particular order of calls would result in an illegal move.

Test Plan and Hands on Testing

Changelog

Review requests

Risk assessment

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 21.84%. Comparing base (2a694fe) to head (b71f9c8).

Additional details and impacted files

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##             edge   #17636   +/-   ##
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  Coverage   21.84%   21.84%           
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  Files        2822     2822           
  Lines      217431   217431           
  Branches     8214     8214           
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  Hits        47491    47491           
  Misses     169940   169940           

Flag	Coverage Δ
protocol-designer	18.91% <ø> (ø)
step-generation	4.36% <ø> (-0.01%)	⬇️

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[sfoster1]

Some inline comments, but also a couple larger things:

• The state updates that go along with stall or overpressure defined errors in the commands that move the plunger should also mark not-ready-to-aspirate
• home should mark a pipette as ready to aspirate if that pipette's axis is homed

Thanks for doing this!

[sfoster1]

Very nice, looks good to me!