Small things because fuck sd cards

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