Small things because fuck sd cards

orchestrateur/sensors/button.py

@@ -1,7 +1,7 @@
 import grovepi
 import time
 import threading
-from sensors.lock import grove_lock
+from sensors.lock import safe_grove_access
 from shared.logging import log
 
 button = 2
@@ -10,28 +10,25 @@ grovepi.pinMode(button, "INPUT")
 button_callback = None
 
 def read_button_state():
-    # Increase timeout slightly so the button thread can wait for long I2C sensor reads to finish
-    if not grove_lock.acquire(timeout=0.2):
-        return None
-    try:
-        val = grovepi.digitalRead(button)
-        # Force strict binary output (0 or 1)
-        return 1 if val == 1 else 0
-    except Exception as e:
-        log(f"BTN Error: {e}")
-        return None
-    finally:
-        grove_lock.release()
+    # Attempt to acquire the lock with a 0.2s timeout
+    with safe_grove_access(timeout=0.2) as acquired:
+        if not acquired:
+            return None
+        
+        try:
+            val = grovepi.digitalRead(button)
+            # Force strict binary output (0 or 1)
+            return 1 if val == 1 else 0
+        except Exception as e:
+            log(f"BTN Error: {e}")
+            return None
 
 def monitor_button():
     last_stable_state = 0
     candidate_state = 0
     consecutive_count = 0
     
-    # Require 3 consecutive identical reads (~60ms) to confirm a valid state change
     REQUIRED_CONSECUTIVE_READS = 3
-    
-    # Minimum time gap (in seconds) between allowed button triggers (cooldown)
     DEBOUNCE_COOLDOWN = 0.3
     last_trigger_time = 0
 
@@ -45,11 +42,9 @@ def monitor_button():
                 candidate_state = current_state
                 consecutive_count = 1
 
-            # State is confirmed stable across multiple reads
             if consecutive_count >= REQUIRED_CONSECUTIVE_READS:
                 now = time.time()
                 
-                # Rising edge detection (0 -> 1 transition) with cooldown timer
                 if candidate_state == 1 and last_stable_state == 0:
                     if (now - last_trigger_time) > DEBOUNCE_COOLDOWN:
                         last_trigger_time = now
@@ -63,7 +58,6 @@ def monitor_button():
 
             time.sleep(0.02)  # 20ms poll interval
         else:
-            # Lock was busy or read failed; reset candidate counter to reject noisy spikes
             consecutive_count = 0
             time.sleep(0.01)
 

orchestrateur/sensors/buzzer.py

@@ -1,42 +1,51 @@
 import time
 import threading
 import grovepi
-from sensors.lock import grove_lock
+from sensors.lock import safe_grove_access
 from shared import config
 
 BUZZER_PIN = 8  # Must be a PWM pin on GrovePi (D3, D5, D6, D8 support analogWrite)
 
-# Initialize pin mode
+# Initialize pin mode safely
 try:
-    with grove_lock:
-        grovepi.pinMode(BUZZER_PIN, "OUTPUT")
+    with safe_grove_access(timeout=1.0) as acquired:
+        if acquired:
+            grovepi.pinMode(BUZZER_PIN, "OUTPUT")
 except Exception as e:
     print(f"[BUZZER] Init error: {e}")
 
-def _siren_worker(beats_nb: int, delay: float):
-    if not config.BUZZER_ACTIVATED:
-        return
-
-    with grove_lock:
-        try:
-            for _ in range(beats_nb):
-                # 1. Send single PWM write to start sound (Duty cycle ~128/255)
-                grovepi.analogWrite(BUZZER_PIN, 128)
-                time.sleep(delay)
-                
-                # 2. Send single PWM write to kill sound
-                grovepi.analogWrite(BUZZER_PIN, 0)
-                time.sleep(delay)
-        except Exception as e:
-            print(f"[BUZZER] Error during siren execution: {e}")
-        finally:
-            # Absolute safety reset
+def _stop_sound():
+    """Helper to ensure sound is silenced safely under lock."""
+    with safe_grove_access(timeout=1.0) as acquired:
+        if acquired:
             try:
                 grovepi.analogWrite(BUZZER_PIN, 0)
                 grovepi.digitalWrite(BUZZER_PIN, 0)
             except Exception:
                 pass
 
+def _siren_worker(beats_nb: int, delay: float):
+    if not config.BUZZER_ACTIVATED:
+        return
+
+    try:
+        for _ in range(beats_nb):
+            # 1. Turn sound ON (only acquire lock briefly for the I2C write)
+            with safe_grove_access(timeout=1.0) as acquired:
+                if acquired:
+                    grovepi.analogWrite(BUZZER_PIN, 128)
+            time.sleep(delay)  # Sleep WITHOUT holding the lock!
+            
+            # 2. Turn sound OFF
+            with safe_grove_access(timeout=1.0) as acquired:
+                if acquired:
+                    grovepi.analogWrite(BUZZER_PIN, 0)
+            time.sleep(delay)  # Sleep WITHOUT holding the lock!
+    except Exception as e:
+        print(f"[BUZZER] Error during siren execution: {e}")
+    finally:
+        _stop_sound()
+
 def buzzer_siren(beats_nb: int = 3, delay: float = 0.2, async_run: bool = True):
     if async_run:
         thread = threading.Thread(target=_siren_worker, args=(beats_nb, delay), daemon=True)

orchestrateur/sensors/gps.py

@@ -2,7 +2,7 @@ import serial
 import time
 import threading
 from shared.logging import log
-from sensors.lock import serial_lock
+from sensors.lock import safe_serial_access
 
 def calculate_nmea_checksum(line: str) -> bool:
     """Validates standard NMEA 0183 sentence checksum ($...*HH)."""
@@ -35,7 +35,12 @@ class GROVEGPS:
 
     def read(self):
         """Reads the freshest GGA sentence from serial, thread-safely."""
-        with serial_lock:
+        # Allow sufficient time for the serial reads (readline can block up to timeout=1s per line)
+        with safe_serial_access(timeout=2.0) as acquired:
+            if not acquired:
+                log("GPS: Serial lock acquisition timed out")
+                return False
+
             # 1. Flush accumulated stale buffer data
             self.ser.reset_input_buffer()
 
@@ -115,5 +120,4 @@ def get_gps_data():
     else:
         log(f"GPS: No valid fix or data available. Satellites: {gps.satellites}, Quality: {gps.quality}")
     
-    # Return None so main.py doesn't process or log empty GPS data
     return None

orchestrateur/sensors/lock.py

@@ -1,5 +1,31 @@
 import threading
+from contextlib import contextmanager
+
 # Dedicated lock for I2C bus access (used by GrovePi sensors)
 grove_lock = threading.Lock()
 # Dedicated lock for UART/Serial port access
-serial_lock = threading.Lock()
+serial_lock = threading.Lock()
+
+@contextmanager
+def safe_grove_access(timeout=1.0):
+    """
+    Safely acquire the Grove I2C lock with a timeout.
+    Yields True if lock acquired, False otherwise.
+    Guarantees lock release only when successfully acquired.
+    """
+    acquired = grove_lock.acquire(timeout=timeout)
+    try:
+        yield acquired
+    finally:
+        if acquired:
+            grove_lock.release()
+
+@contextmanager
+def safe_serial_access(timeout=1.0):
+    """Safely acquire the UART/Serial lock with a timeout."""
+    acquired = serial_lock.acquire(timeout=timeout)
+    try:
+        yield acquired
+    finally:
+        if acquired:
+            serial_lock.release()

orchestrateur/sensors/rfid_reader.py

@@ -1,7 +1,7 @@
 import time
 import pigpio
 from typing import Optional
-from sensors.lock import serial_lock
+from sensors.lock import safe_serial_access
 
 
 class RFIDReader:
@@ -19,7 +19,10 @@ class RFIDReader:
         if not self.pi.connected:
             raise RuntimeError("pigpio daemon is not running. Run 'sudo systemctl start pigpiod'.")
 
-        with serial_lock:
+        with safe_serial_access(timeout=1.0) as acquired:
+            if not acquired:
+                raise RuntimeError("RFID: Could not acquire serial lock during initialization")
+
             self.pi.set_mode(self.rx_pin, pigpio.INPUT)
             
             # Clean up lingering serial sessions on this pin
@@ -34,7 +37,10 @@ class RFIDReader:
         """
         Reads and accumulates bytes, returning the 10-digit Tag ID.
         """
-        with serial_lock:
+        with safe_serial_access(timeout=0.5) as acquired:
+            if not acquired:
+                return None
+
             if not self.pi or not self.pi.connected:
                 return None
 
@@ -70,7 +76,7 @@ class RFIDReader:
         return None
 
     def close(self):
-        with serial_lock:
+        with safe_serial_access(timeout=1.0) as acquired:
             if self.pi and self.pi.connected:
                 try:
                     self.pi.bb_serial_read_close(self.rx_pin)

orchestrateur/sensors/rgb_lcd.py

@@ -1,6 +1,6 @@
 import time
 import sys
-from sensors.lock import grove_lock
+from sensors.lock import safe_grove_access
 
 if sys.platform == 'uwp':
     import winrt_smbus as smbus
@@ -18,7 +18,6 @@ else:
 DISPLAY_RGB_ADDR = 0x62
 DISPLAY_TEXT_ADDR = 0x3e
 
-
 def setRGB(r, g, b, brightness=1.0):
     """Set backlight to (R,G,B) with optional brightness level (0.0 to 1.0)."""
     brightness = max(0.0, min(1.0, float(brightness)))
@@ -27,7 +26,9 @@ def setRGB(r, g, b, brightness=1.0):
     g_scaled = int(max(0, min(255, g * brightness)))
     b_scaled = int(max(0, min(255, b * brightness)))
 
-    with grove_lock:
+    with safe_grove_access(timeout=1.0) as acquired:
+        if not acquired:
+            return
         try:
             bus.write_byte_data(DISPLAY_RGB_ADDR, 0, 0)
             bus.write_byte_data(DISPLAY_RGB_ADDR, 1, 0)
@@ -38,15 +39,15 @@ def setRGB(r, g, b, brightness=1.0):
         except OSError:
             pass
 
-
 def textCommand(cmd):
     """Send command to display (internal use)."""
     bus.write_byte_data(DISPLAY_TEXT_ADDR, 0x80, cmd)
 
-
 def setText(text):
     """Set display text (\n for second line or auto wrap)."""
-    with grove_lock:
+    with safe_grove_access(timeout=1.5) as acquired:
+        if not acquired:
+            return
         try:
             textCommand(0x01)  # Clear display
             time.sleep(0.05)
@@ -67,14 +68,15 @@ def setText(text):
                         continue
                 count += 1
                 bus.write_byte_data(DISPLAY_TEXT_ADDR, 0x40, ord(c))
-                time.sleep(0.001)  # Small pacing delay to prevent LCD buffer overflow
+                time.sleep(0.001)
         except OSError:
             pass
 
-
 def setText_norefresh(text):
     """Update display text without full screen erase."""
-    with grove_lock:
+    with safe_grove_access(timeout=1.5) as acquired:
+        if not acquired:
+            return
         try:
             textCommand(0x02)  # Return home
             time.sleep(0.05)
@@ -97,6 +99,6 @@ def setText_norefresh(text):
                         continue
                 count += 1
                 bus.write_byte_data(DISPLAY_TEXT_ADDR, 0x40, ord(c))
-                time.sleep(0.001)  # Small pacing delay to prevent LCD buffer overflow
+                time.sleep(0.001)
         except OSError:
             pass

orchestrateur/sensors/ultrasonicRanger.py

@@ -1,33 +1,24 @@
 import grovepi
-from sensors.lock import grove_lock
+from sensors.lock import safe_grove_access
 from shared import config
 
-# Connect the Grove Ultrasonic Ranger to digital port D4
-# SIG,NC,VCC,GND
 ULTRASONIC_RANGER_PORT = 4
 
 def read_ultrasonic_ranger(ultrasonic_ranger=ULTRASONIC_RANGER_PORT):
-    if not grove_lock.acquire(timeout=1.0):
-        print("Ultrasonic: Lock acquisition timed out")
-        return None
-        
-    try:
-        return grovepi.ultrasonicRead(ultrasonic_ranger)
-    except Exception as e:
-        print(f"Error: {e}")
-        return None
-    finally:
-        grove_lock.release()
-    
+    with safe_grove_access(timeout=1.5) as acquired:
+        if not acquired:
+            return None
+            
+        try:
+            return grovepi.ultrasonicRead(ultrasonic_ranger)
+        except Exception as e:
+            print(f"Ultrasonic read error: {e}")
+            return None
+
 def get_dish_height():
     """Returns the height of the dish in centimeters."""
     distance = read_ultrasonic_ranger()
     if distance is not None:
-        # Assuming the ultrasonic sensor is mounted at a fixed height above the dish
-        # and pointing downwards, we can calculate the height of the dish.
-        # For example, if the sensor is 30 cm above the dish when it's empty:
-          # cm
         dish_height = config.COOKING_COMPARTMENT_HEIGHT - distance
-        return max(dish_height, 0)  # Ensure height is not negative
-    else:
-        return None
+        return max(dish_height, 0)
+    return None