feat(hardware): allow variable number of tip presence messages

[caila-marashaj]

Overview

Currently, the hardware controller is only able to process one tip presence notification. This changes tip_presence.py to wait for and return either 1 or 2 notifications, as a List[int] rather than an int.

At the hardware controller level, we check that both responses are the same, and then handle the tip presence status as a single value.

[codecov]

Codecov Report

Merging #13478 (036e64d) into edge (3ffe41c) will decrease coverage by 0.01%.
Report is 2 commits behind head on edge.
The diff coverage is 82.14%.

Additional details and impacted files

@@            Coverage Diff             @@
##             edge   #13478      +/-   ##
==========================================
- Coverage   71.30%   71.30%   -0.01%     
==========================================
  Files        2419     2419              
  Lines       67951    67965      +14     
  Branches     7912     7913       +1     
==========================================
+ Hits        48454    48462       +8     
- Misses      17641    17647       +6     
  Partials     1856     1856              

Flag	Coverage Δ
app	68.86% <ø> (ø)
g-code-testing	96.44% <ø> (ø)
hardware	56.55% <100.00%> (+0.01%)	⬆️
hardware-testing	∅ <ø> (∅)
notify-server	89.13% <ø> (ø)
protocol-designer	45.99% <ø> (+<0.01%)	⬆️
shared-data	73.80% <37.50%> (-0.10%)	⬇️
step-generation	86.95% <ø> (ø)

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

Files Changed	Coverage Δ
...entrons/hardware_control/backends/ot3controller.py	68.42% <ø> (ø)
...pentrons/hardware_control/backends/ot3simulator.py	86.44% <ø> (ø)
api/src/opentrons/hardware_control/ot3api.py	79.26% <ø> (ø)
api/src/opentrons/hardware_control/types.py	96.57% <ø> (ø)
.../python/opentrons_shared_data/errors/exceptions.py	63.81% <28.57%> (-1.29%)	⬇️
...pentrons_hardware/hardware_control/tip_presence.py	100.00% <100.00%> (ø)
...-data/python/opentrons_shared_data/errors/codes.py	92.75% <100.00%> (+0.10%)	⬆️

... and 3 files with indirect coverage changes

[sfoster1]

Looks good, though I would like to change the name of the backend argument - I feel like ideally it's just the hardware controller that knows about the 96

[Laura-Danielle]

We should still not be checking tip presence for the 96 chan until we implement the motor routine.

[ahiuchingau]

One nit otherwise looks good to me!

[sfoster1]

Looks good once @Laura-Danielle 's changes are addressed, some nitpicks/improvements

[sfoster1]

Couple more small changes, only really important one is the error code

[sfoster1]

Noice! Looks good to me if tests pass.

change requests addressed