fix(api): raise errors from modules disconnecting

When a module gets disconnected, the hardware controller cleans up the
module instance, which stops the poller. What it doesn't do is cancel
anything that was waiting on the next poll, or in fact prevent new
things from waiting on the now-stopped poller. That means that if a
module disconnects
- During a module method waiting for the next poll, that module method
hangs (well, awaits) forever
- During a module method right _before_ waiting for the next poll, that
module method would start waiting and continue waiting forever

This PR forwards cancellations into the registered poll waiters when the
poller task is cancelled, and prevents the registration of new poll
waiters on a cancelled poll task.

api/src/opentrons/hardware_control/poller.py

@@ -3,6 +3,7 @@
 import logging
 from abc import ABC, abstractmethod
 from typing import AsyncGenerator, List, Optional
+from opentrons_shared_data.errors.exceptions import ModuleCommunicationError
 
 
 log = logging.getLogger(__name__)
@@ -48,6 +49,8 @@ async def stop(self) -> None:
         async with self._use_read_lock():
             task.cancel()
             await asyncio.gather(task, return_exceptions=True)
+        for waiter in self._poll_waiters:
+            waiter.cancel(msg="Module was removed")
 
     async def wait_next_poll(self) -> None:
         """Wait for the next poll to complete.
@@ -56,6 +59,9 @@ async def wait_next_poll(self) -> None:
         the next complete read. If a read raises an exception,
         it will be passed through to `wait_next_poll`.
         """
+        if not self._poll_forever_task or self._poll_forever_task.done():
+            raise ModuleCommunicationError(message="Module was removed")
+
         poll_future = asyncio.get_running_loop().create_future()
         self._poll_waiters.append(poll_future)
         await poll_future