Button fix

orchestrateur/sensors/button.py

@@ -5,7 +5,6 @@ from sensors.lock import grove_lock
 from shared.logging import log
 
 button = 2
-button_switch_state = 0
 grovepi.pinMode(button, "INPUT")
 
 button_callback = None
@@ -15,7 +14,9 @@ def read_button_state():
     if not grove_lock.acquire(timeout=0.2):
         return None
     try:
-        return grovepi.digitalRead(button)
+        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
@@ -23,21 +24,47 @@ def read_button_state():
         grove_lock.release()
 
 def monitor_button():
-    global button_switch_state
+    last_stable_state = 0
-    last_button_state = button_switch_state
+    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
 
     while True:
         current_state = read_button_state()
         
         if current_state is not None:
-            # Rising edge detection (0 -> 1 transition)
+            if current_state == candidate_state:
-            if current_state == 1 and last_button_state == 0:
+                consecutive_count += 1
-                if button_callback:
+            else:
-                    button_callback()
+                candidate_state = current_state
-            last_button_state = current_state
+                consecutive_count = 1
-            time.sleep(0.02)  # Fast 20ms poll when lock is clear
+
+            # 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
+                        if button_callback:
+                            try:
+                                button_callback()
+                            except Exception as e:
+                                log(f"[Button] Callback exception: {e}")
+                
+                last_stable_state = candidate_state
+
+            time.sleep(0.02)  # 20ms poll interval
         else:
-            # Lock was busy; retry quickly without updating last_button_state
+            # Lock was busy or read failed; reset candidate counter to reject noisy spikes
+            consecutive_count = 0
             time.sleep(0.01)
 
 def start_button_monitoring_thread():