chore(hardware): Add some logging around what I think is causing some can errors (#17117)

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# Overview

We occasionally get some ABR issues where the can bus says it's not
receiving ACKs or that a move group says it didn't get all expected
nodes, but reports [] as the missing nodes.

I think the second bug is because we're checking with `if not
self._moves[group_id]` instead of checking `if
len(self._moves[group_id]) == 0:` Which should be equivalent but I think
there may be some python cleanup bug that reports the list as true due
to a remnant that hasn't been garbage collected yet.
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Author: ryanthecoder

hardware/opentrons_hardware/drivers/can_bus/can_messenger.py

@@ -152,7 +152,7 @@ async def send_and_verify_recieved(self) -> ErrorCode:
             )
         except asyncio.TimeoutError:
             log.error(
-                f"Message did not receive ack for message index {self._message.payload.message_index}"
+                f"Message did not receive ack for message index {self._message.payload.message_index} Missing node(s) {self._expected_nodes}"
             )
             return ErrorCode.timeout
         finally:
@@ -278,12 +278,14 @@ async def _ensure_send(
         exclusive: bool = False,
     ) -> ErrorCode:
         if len(expected_nodes) == 0:
-            log.warning("Expected Nodes should have been specified")
             if node_id == NodeId.broadcast:
                 if not expected_nodes:
                     expected_nodes = list(self._known_nodes)
             else:
                 expected_nodes = [node_id]
+            log.warning(
+                f"Expected Nodes should have been specified, Setting expected nodes to {expected_nodes}"
+            )
 
         listener = AcknowledgeListener(
             can_messenger=self,

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 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()