feat(api): dynamic liquid tracking instrument papi changes

[caila-marashaj]

Overview

This pr contains the protocol_api changes that will allow you to call dynamic liquid tracking from a protocol.
It won't actually work yet because the hardware api changes need to get merged in, but they're a-comin.

Static Liquid Tracking

The introduction of dynamic liquid tracking will also amend static liquid tracking behavior. Before, you would call an aspirate with static liquid tracking like this:
pip.aspirate(volume=whatever, location=w.meniscus(z=z_offset))

Currently on edge, the location well.meniscus() will automatically and immutably point to the projected liquid meniscus at the end of a liquid handling operation, which is not always what you want. For example, if you were to do this with a dispense, the pipette tip would hover above the liquid and then dispense into the air.

Using this code, however, you can call aspirate with static liquid tracking to target the ending liquid height:
pip.aspirate(volume=whatever, location=w.meniscus(z=z_offset, target="end")),

call dispense with static liquid tracking to target the beginning liquid height:
pip.dispense(volume=whatever, location=w.meniscus(z=z_offset, target="beginning")),

or call either one with dynamic liquid tracking:
pip.aspirate(volume=whatever, location=w.meniscus(z=z_offset, target="dynamic_meniscus"))
pip.dispense(volume=whatever, location=w.meniscus(z=z_offset, target="dynamic_meniscus"))

This won't break any existing protocols with static liquid tracking, because if the location meniscus is specified but no target given, the target will default to end, which was the previous behavior.

Changelog

• create a MeniscusTracking type to store the desired target for liquid tracking
• some wiring in papi to call down to the new AspirateWhileTracking/DispenseWhileTracking commands when dynamic liquid tracking is requested

Tests

Dynamic liquid tracking won't work in a protocol yet since the hardware control changes still need to be added, but:

• make sure regular aspirate and dispense still work in a protocol
• make sure aspirate and dispense with target="beginning" work as expected in a protocol
• make sure aspirate and dispense with target="end" work as expected in a protocol
• add some instrument context tests

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 24.06%. Comparing base (38905cf) to head (d57fe55).

Additional details and impacted files

@@            Coverage Diff             @@
##             edge   #17294      +/-   ##
==========================================
- Coverage   25.72%   24.06%   -1.66%     
==========================================
  Files        2851     2851              
  Lines      219520   219517       -3     
  Branches    17975    17975              
==========================================
- Hits        56462    52836    -3626     
- Misses     163043   166672    +3629     
+ Partials       15        9       -6     

Flag	Coverage Δ
app	1.09% <ø> (-2.34%)	⬇️
protocol-designer	18.96% <ø> (ø)
step-generation	4.39% <ø> (ø)

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

see 73 files with indirect coverage changes

🚀 New features to boost your workflow:

• ❄ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.
• 📦 JS Bundle Analysis: Save yourself from yourself by tracking and limiting bundle sizes in JS merges.