fix(api): clean up tip motor distance caching/usage

[fsinapi]

Overview

RQA-2038 seems to be related to the Tip Check that occurs when cancelling a protocol. The Serialization error was a result of the software attempting to send a move group with a duration far exceeding a 32-bit integer. I was able to replicate the issue by cancelling a run during the setup stage, and then re-entering setup at a time such that a Tip Motor home action got interrupted, leaving the tip motors with a "motor_position" estimate that is orders of magnitude higher than the actual max position of the axis.

Once the tip motor is in this situation, the software will fail a subsequent Tip Presence Check because of the invalid cached position of the motor.

To fix this, I added a few bandaids

• Wrap tip presence checks in the motion lock
• If a tip action fails for any reason, clear the cached tip motor position
• (Most importantly) if the cached tip motor position is higher than the physical limit of the axis, force the software to run a slow home.

With all of these changes, I can no longer replicate the issue.

Test Plan

Replication is mentioned above.

Changelog

Listed above

Review requests

Risk assessment

Medium/low, doesn't touch anything too integral

[sfoster1]

Ah, yeah, the downside of doing home the way we do it

[codecov]

Codecov Report

Merging #14156 (4252d1a) into chore_release-7.1.0 (2053ac9) will increase coverage by 0.00%.
The diff coverage is n/a.

Additional details and impacted files

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##           chore_release-7.1.0   #14156   +/-   ##
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  Coverage                70.45%   70.45%           
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  Files                     2512     2512           
  Lines                    71216    71215    -1     
  Branches                  8970     8970           
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  Hits                     50173    50173           
+ Misses                   18849    18848    -1     
  Partials                  2194     2194           

Flag	Coverage Δ
g-code-testing	96.44% <ø> (ø)
notify-server	89.13% <ø> (ø)

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Files	Coverage Δ
...entrons/hardware_control/backends/ot3controller.py	68.26% <ø> (+0.40%)	⬆️
api/src/opentrons/hardware_control/ot3api.py	79.58% <ø> (ø)