feat(robot-server): red light when estop is engaged

[fsinapi]

Overview

When the estop is engaged, the status bar should turn red. This PR makes that happen.

Before this PR, the light control task was only started once the Engine Store was initialized (which could be for a number of endpoints). This poses an issue if the estop is pressed before any of those endpoints are called. As a part of this PR, we start the light control task as soon as the hardware is initialized, and supply the engine store later. There are some nasty circular dependencies if you try to include the runs module from the hardware module so we don't do that and instead register a callback for when the hardware is done initializing. I don't like this but I think we'll need a pretty big refactor to make it feasible.

Test Plan

On a Flex, tried pressing the estop and releasing it while the robot was sitting idle right after restarting the robot server. The light goes red & white.

During a run, if you press the Estop then the light turns solid red. Once you release the Estop it transitions into the hardware error mode (blinking red).

Changelog

• Create light control task on startup
• Light control task can be created without an EngineStore and have it supplied later
• Light control task checks estop state
• Hardware API provides an accessor for estop state

Review requests

As mentioned above, I couldn't put the Light Control Task initializer directly into robot_server.hardware because it needs to depend on robot_server.runs.engine_store and robot_server.runs ends up depending on robot_server.hardware. Even if you pull the engine store out of runs, the robot_server.protocols module ends up getting pulled in and it also depends on robot_server.hardware. If I'm missing an easy way to shoehorn this in without having a circular dependency then I'm all ears.

Risk assessment

Medium level that this could affect status bar workflows but that should be it, tested on a Flex that it works as expected in basic situations.

[codecov]

Codecov Report

Merging #13173 (ff23472) into edge (6267e73) will decrease coverage by 0.01%.
Report is 26 commits behind head on edge.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             edge   #13173      +/-   ##
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- Coverage   72.58%   72.58%   -0.01%     
==========================================
  Files        2372     2372              
  Lines       65437    65434       -3     
  Branches     7202     7202              
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- Hits        47500    47497       -3     
  Misses      16197    16197              
  Partials     1740     1740              

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

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

Files Changed	Coverage Δ
api/src/opentrons/hardware_control/api.py	82.51% <ø> (ø)
api/src/opentrons/hardware_control/ot3api.py	79.39% <ø> (ø)
...are_control/protocols/chassis_accessory_manager.py	66.66% <ø> (ø)
robot-server/robot_server/app_setup.py	95.65% <ø> (ø)
robot-server/robot_server/hardware.py	81.42% <ø> (-0.52%)	⬇️
robot-server/robot_server/runs/dependencies.py	100.00% <ø> (ø)

[sfoster1]

Kinda gross but not sure what else to do really.