fix(api): add stopped state so a stop request doesn't mean the grippe…

…r needs to re-home (#16853)

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# Overview

This fixes an error that happens during error recovery where the gripper
needs to re-home because the error flow sends a stop request.

This fixes that by adding a new state called stop, and if the firmware
responds with STOPPED instead of UNHOMED then we know we can just
continue on without re-homing.

The gripper will still go into a UNHOMED state during the following:
Labware droped
Collision
Estop

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api/src/opentrons/hardware_control/backends/ot3utils.py

@@ -652,6 +652,7 @@ def update(
     FirmwareGripperjawState.force_controlling_home: GripperJawState.HOMED_READY,
     FirmwareGripperjawState.force_controlling: GripperJawState.GRIPPING,
     FirmwareGripperjawState.position_controlling: GripperJawState.HOLDING,
+    FirmwareGripperjawState.stopped: GripperJawState.STOPPED,
 }
 
 

api/src/opentrons/hardware_control/types.py

@@ -625,6 +625,8 @@ class GripperJawState(enum.Enum):
     #: the gripper is actively force-control gripping something
     HOLDING = enum.auto()
     #: the gripper is in position-control mode
+    STOPPED = enum.auto()
+    #: the gripper has been homed before but is stopped now
 
 
 class InstrumentProbeType(enum.Enum):

hardware/opentrons_hardware/firmware_bindings/constants.py

@@ -461,3 +461,4 @@ class GripperJawState(int, Enum):
     force_controlling_home = 0x1
     force_controlling = 0x2
     position_controlling = 0x3
+    stopped = 0x4