feat(api): register module instances on os events

Previously, the hardware controller only became aware of underlying connected hardware modules when
it was told to look via an http endpoint (only effectively used by the run app). In order to remove
this unnecessary reliance, the hardware controller now watches the filesystem for changes using
aionotify (a thin python wrapper of linux util). Changes to the physically connected modules should
now be instantly reflected in the hardware controllers attached modules regardless of whether the
hardware controller is observed by a third party or not. No more Schrödinger's modules

re #3580

api/src/opentrons/server/endpoints/control.py

@@ -128,7 +128,6 @@ async def get_attached_modules(request):
     }
     """
     hw = hw_from_req(request)
-    print(f'\n\nhw: {hw}\n\n')
     if ff.use_protocol_api_v2():
         hw_mods = hw.attached_modules
         module_data = [