fix(api): preserve pre-v2.18 API tip drop alternating behavior (#15052)

# Overview

Closes AUTH-42

In PR #14560, the ability to provide custom offsets for disposal
location objects (trash bins and waste chutes loaded in API v2.16 and
above) was added to be introduced in v2.18. With this addition came a
slight change in behavior to our alternate tip drop behavior.

For context, automatic tip drop alternation was something added in API
v2.15, that when no explicit location was provided for `drop_tip`, the
pipette's location it dropped the tip in would cycle between a left bias
and right bias, to prevent tips from stacking up as quickly.

When deck configured trash was introduced initially, there was no way to
provide custom offsets, and so we'd always do the tip alternation
regardless of whether the trash location was passed or not. With the
addition of offsets, we've gone back to the pattern we used for labware
based trash, where if you provide it even with no offset, we go to the
center of the trash. However, the PR did not add a version gate for this
change in behavior, which meant that 2.16 and 2.17 protocols would
behave slightly differently in this new robot version. This PR fixes
that and preserves parity with those API levels.

# Test Plan

Tested the following two protocols on robot and ensured that the 2.17
protocol and 2.18 worked as expected.

```
metadata = {
    'protocolName': 'Tip Drop Alternation 2.17 test',
}

requirements = {
    "robotType": "Flex",
    "apiLevel": "2.17"
}

def run(context):
    trash = context.load_trash_bin('A3')
    tip_rack = context.load_labware('opentrons_flex_96_tiprack_200ul', 'C2')
    pipette = context.load_instrument("flex_1channel_1000", mount="left", tip_racks=[tip_rack])

    # On 2.17 it should alternate for all four drop tip calls, regardless of trash being provided as location or not
    pipette.pick_up_tip()
    pipette.drop_tip(trash)

    pipette.pick_up_tip()
    pipette.drop_tip(trash)

    pipette.pick_up_tip()
    pipette.drop_tip()

    pipette.pick_up_tip()
    pipette.drop_tip()
```
```
metadata = {
    'protocolName': 'Tip Drop Alternation 2.18 test',
}

requirements = {
    "robotType": "Flex",
    "apiLevel": "2.18"
}

def run(context):
    trash = context.load_trash_bin('A3')
    tip_rack = context.load_labware('opentrons_flex_96_tiprack_200ul', 'C2')
    pipette = context.load_instrument("flex_1channel_1000", mount="left", tip_racks=[tip_rack])

    # On 2.18 it should alternate only for the latter two calls, and go to the XY center for the first two
    pipette.pick_up_tip()
    pipette.drop_tip(trash)

    pipette.pick_up_tip()
    pipette.drop_tip(trash)

    pipette.pick_up_tip()
    pipette.drop_tip()

    pipette.pick_up_tip()
    pipette.drop_tip()
```

# Changelog

- added a version gate for `alternate_tip_drop` to preserve 2.16 and
2.17 tip dropping behavior.

# Review requests

Is there anything that should be added to the docstring or release notes
regarding this change?

# Risk assessment

Low.

api/src/opentrons/protocol_api/instrument_context.py

@@ -60,6 +60,8 @@
 """The version after which a partial nozzle configuration became available for the 96 Channel Pipette."""
 _PARTIAL_NOZZLE_CONFIGURATION_AUTOMATIC_TIP_TRACKING_IN = APIVersion(2, 18)
 """The version after which automatic tip tracking supported partially configured nozzle layouts."""
+_DISPOSAL_LOCATION_OFFSET_ADDED_IN = APIVersion(2, 18)
+"""The version after which offsets for deck configured trash containers and changes to alternating tip drop behavior were introduced."""
 
 
 class InstrumentContext(publisher.CommandPublisher):
@@ -1086,16 +1088,22 @@ def drop_tip(
  well = maybe_well
 
  elif isinstance(location, (TrashBin, WasteChute)):
+ # In 2.16 and 2.17, we would always automatically use automatic alternate tip drop locations regardless
+ # of whether you explicitly passed the disposal location as a location or if none was provided. Now, in
+ # 2.18 and moving forward, passing it in will bypass the automatic behavior and instead go to the set
+ # offset or the XY center if none is provided.
+ if self.api_version < _DISPOSAL_LOCATION_OFFSET_ADDED_IN:
+ alternate_drop_location = True
  with publisher.publish_context(
  broker=self.broker,
  command=cmds.drop_tip_in_disposal_location(
  instrument=self, location=location
  ),
  ):
- # TODO(jbl 2024-02-28) when adding 2.18 api version checks, set alternate_tip_drop
- # if below that version for compatability
  self._core.drop_tip_in_disposal_location(
- location, home_after=home_after
+ location,
+ home_after=home_after,
+ alternate_tip_drop=alternate_drop_location,
  )
  self._last_tip_picked_up_from = None
  return self

api/tests/opentrons/protocol_api/test_instrument_context.py

@@ -753,9 +753,14 @@ def test_drop_tip_to_randomized_trash_location(
  )
 
 
+@pytest.mark.parametrize(
+ ["api_version", "alternate_drop"],
+ [(APIVersion(2, 17), True), (APIVersion(2, 18), False)],
+)
 def test_drop_tip_in_trash_bin(
  decoy: Decoy,
  mock_instrument_core: InstrumentCore,
+ alternate_drop: bool,
  subject: InstrumentContext,
 ) -> None:
  """It should drop a tip in a deck configured trash bin."""
@@ -767,14 +772,20 @@ def test_drop_tip_in_trash_bin(
  mock_instrument_core.drop_tip_in_disposal_location(
  trash_bin,
  home_after=None,
+ alternate_tip_drop=alternate_drop,
  ),
  times=1,
  )
 
 
+@pytest.mark.parametrize(
+ ["api_version", "alternate_drop"],
+ [(APIVersion(2, 17), True), (APIVersion(2, 18), False)],
+)
 def test_drop_tip_in_waste_chute(
  decoy: Decoy,
  mock_instrument_core: InstrumentCore,
+ alternate_drop: bool,
  subject: InstrumentContext,
 ) -> None:
  """It should drop a tip in a deck configured trash bin or waste chute."""
@@ -786,6 +797,7 @@ def test_drop_tip_in_waste_chute(
  mock_instrument_core.drop_tip_in_disposal_location(
  waste_chute,
  home_after=None,
+ alternate_tip_drop=alternate_drop,
  ),
  times=1,
  )