Small things because fuck sd cards

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