Add some logging around what I think is causing some can errors

Opentrons · Dec 16, 2024 · 5024b7b · 5024b7b
1 parent d37b151
commit 5024b7b
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Showing 2 changed files with 6 additions and 0 deletions.
diff --git a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
@@ -154,6 +154,7 @@ async def send_and_verify_recieved(self) -> ErrorCode:
             log.error(
                 f"Message did not receive ack for message index {self._message.payload.message_index}"
             )
+            log.error(f"Missing node {self._expected_nodes}")
             return ErrorCode.timeout
         finally:
             self._can_messenger.remove_listener(self)
@@ -284,6 +285,7 @@ async def _ensure_send(
                     expected_nodes = list(self._known_nodes)
             else:
                 expected_nodes = [node_id]
+            log.warning(f"Setting expected nodes to {expected_nodes}")
 
         listener = AcknowledgeListener(
             can_messenger=self,

diff --git a/hardware/opentrons_hardware/hardware_control/move_group_runner.py b/hardware/opentrons_hardware/hardware_control/move_group_runner.py
@@ -469,6 +469,10 @@ def _remove_move_group(
                 f"Received completion for {node_id} group {group_id} seq {seq_id}"
                 f", which {'is' if in_group else 'isn''t'} in group"
             )
+            if not self._moves[group_id] and len(self._moves[group_id]) == 0:
+                log.error(
+                    f"Python bug proven if check {bool(not self._moves[group_id])} len check {len(self._moves[group_id]) == 0}"
+                )
             if not self._moves[group_id]:
                 log.debug(f"Move group {group_id+self._start_at_index} has completed.")
                 self._event.set()