fix(robot-server): ProtocolManager expects a ThreadManager and not a …

…SynchronousAdapter. (#7175)

* ProtocolManager expects a ThreadManager and not a SynchronousAdapter.
* add typing to ThreadManager.sync

api/src/opentrons/hardware_control/thread_manager.py

@@ -4,7 +4,7 @@
 import logging
 import asyncio
 import functools
-from typing import Generic, TypeVar, Any
+from typing import Generic, TypeVar, Any, Optional
 from .adapters import SynchronousAdapter
 from .modules.mod_abc import AbstractModule
 
@@ -105,7 +105,7 @@ def __init__(self, builder, *args, **kwargs):
         self._loop = None
         self.managed_obj = None
         self.bridged_obj = None
-        self._sync_managed_obj = None
+        self._sync_managed_obj: Optional[SynchronousAdapter] = None
         is_running = threading.Event()
         self._is_running = is_running
 
@@ -159,8 +159,12 @@ def _build_and_start_loop(self, builder, *args, **kwargs):
             loop.close()
 
     @property
-    def sync(self):
-        return self._sync_managed_obj
+    def sync(self) -> SynchronousAdapter:
+        # Why the ignore?
+        # While self._sync_managed_obj is initialized None, a failure to build
+        # the managed_obj and _sync_managed_obj is a catastrophic failure.
+        # All callers of this property assume it to be valid.
+        return self._sync_managed_obj  # type: ignore
 
     def __repr__(self):
         return '<ThreadManager>'

robot-server/robot_server/service/session/session_types/protocol/execution/command_executor.py

@@ -89,7 +89,7 @@ def create_worker(configuration: SessionConfiguration,
         protocol_runner = ProtocolRunner(
             protocol=protocol,
             loop=loop,
-            hardware=configuration.hardware.sync,
+            hardware=configuration.hardware,
             motion_lock=configuration.motion_lock)
         # The async worker to which all commands are delegated.
         return _Worker(