fix(api): Ensure parent to lid stack is valid source for move lid action

[CaseyBatten]

Overview

Partially covers RESC-498

In testing the protocol related to the issue in the ticket mentioned, it was discovered that if a user supplies the parent labware to a dynamically allocated lid stack as a source for a move_lid command then they will get an error. Providing labware as a source for a lid stack is something that our API allows, but in the case of dynamically created stacks it was not working. This PR fixes that by allowing the move_lid logic to identify lid stacks by their relative parent as an extension of their base behavior.

Test Plan and Hands on Testing

• Implement unit test to enforce behavior
• The following protocol should pass analysis:

def run(protocol: protocol_api.ProtocolContext):
    dest_plate_1 = protocol.load_labware("corning_96_wellplate_360ul_flat", location="A2", lid ="corning_96_wellplate_360ul_flat_lid")
    dest_plate_2 = protocol.load_labware("corning_96_wellplate_360ul_flat", location="A3", lid ="corning_96_wellplate_360ul_flat_lid")
    dest_plate_3 = protocol.load_labware("corning_96_wellplate_360ul_flat", location="B1", lid ="corning_96_wellplate_360ul_flat_lid")
    dest_plate_4 = protocol.load_labware("corning_96_wellplate_360ul_flat", location="B2", lid ="corning_96_wellplate_360ul_flat_lid")

    # Riser labware to host lid stacks
    riser = protocol.load_adapter("opentrons_flex_deck_riser", location="B4")
    
    # Move lids to the stack
    protocol.move_lid(dest_plate_1, riser, use_gripper=True)
    protocol.move_lid(dest_plate_2, riser, use_gripper=True)
    protocol.move_lid(dest_plate_3, riser, use_gripper=True)
    protocol.move_lid(dest_plate_4, riser, use_gripper=True)

    # Move lids back off the stack by referencing parent labware
    protocol.move_lid(riser, dest_plate_1, True)
    protocol.move_lid(riser, dest_plate_2, True)
    protocol.move_lid(riser, dest_plate_3, True)
    protocol.move_lid(riser, dest_plate_4, True)

Changelog

Update move_lid function to correctly identify child lid stacks by a given parent labware

Review requests

Risk assessment

Med/Low - Fixes an existing bug regarding acceptable fields for the move_lid command

[sfoster1]

Nice, looks good to me. I think we can integrate the labware display name into the error message a little more nicely

[sfoster1]

Suggested change

	f"Cannot move a lid off of a labware with no lid. {labware.get_display_name()}"
	f"Cannot move a lid off of {labware.get_display_name()} because it has no lid."

?

[CaseyBatten]

Oh yeah absolutely, good catch. Thats definitely a left over message format from debugging on my end.