Asyncio refactor for wifi and rpi

micro_ondes/esp_wifi/main.py

@@ -5,7 +5,7 @@ import ujson as json
 import uasyncio as asyncio
 from machine import Pin, I2C
 
-# 1. Clean memory immediately
+# 1. Clean memory immediately before performing any operations
 gc.collect()
 
 # --- READ DEVICE ID ---
@@ -19,8 +19,13 @@ except Exception:
 orchestrator_id = None
 cooking_state = None
 mqtt_connected = False
+unsubscribed_hello = False
 
-# --- MQTT SETUP (Initialized First!) ---
+# --- ASYNC SIGNALS & QUEUES ---
+# Event to signal when orchestrator requests sensor data (prevents MQTT lock deadlock)
+sensor_request_event = None
+
+# --- MQTT SETUP ---
 from shared import get_mqtt_client, config, payloads
 
 MQTT_CA_FILE = "/certs/ca.crt"
@@ -34,7 +39,6 @@ mqtt_client = get_mqtt_client(
 )
 
 # --- HARDWARE & MODULE DEFERRED IMPORTS ---
-# We declare variables here, but initialize them AFTER MQTT connects
 status_led = None
 uart_device = None
 mlx_temperature_sensor = None
@@ -45,13 +49,12 @@ UARTCommandType = None
 
 
 def init_hardware():
-    """Initializes hardware peripherals AFTER MQTT TLS has reserved its memory."""
+    """Initializes hardware peripherals AFTER MQTT TLS has reserved its RAM."""
     global status_led, uart_device, mlx_temperature_sensor
     global cookingState, log, UARTCommand, UARTCommandType
-    
+
     print("[Main] Initializing hardware peripherals...")
-    
+
-    # Deferred module imports
     from shared import get_uart, cookingState as cs, logging
     from shared.uart_comm import UARTCommand as UC, UARTCommandType as UCT
     from shared.sensors import RGBLED
@@ -62,13 +65,9 @@ def init_hardware():
     UARTCommand = UC
     UARTCommandType = UCT
 
-    # Status LED
     status_led = RGBLED(red_pin=21, green_pin=19, blue_pin=18)
-
-    # Hardware UART 2
     uart_device = get_uart(uart_id=2, tx_pin=17, rx_pin=16)
 
-    # I2C Temperature Sensor
     temperature_sensor_i2c = I2C(
         0,
         scl=Pin(25, Pin.IN, Pin.PULL_UP),
@@ -83,51 +82,46 @@ def init_hardware():
     mlx_temperature_sensor = temperature_sensor.MLX90614(temperature_sensor_i2c)
 
 
-# --- CALLBACKS ---
+def on_received_cooking_state_update(state, is_error=False, is_terminated=False):
+    """Callback executed when state changes are received from the LoRa board over UART."""
+    if cooking_state:
+        if is_error:
+            cooking_state.set_state(cookingState.CookingStates.ERROR)
+        elif is_terminated:
+            cooking_state.set_state(cookingState.CookingStates.ABORTED)
+        else:
+            cooking_state.set_state(state)
+
+
 def on_cooking_state_change(state):
-    if status_led is None:
+    """Callback executed whenever local cooking state transitions."""
-        return
+    if status_led and cookingState:
-    print(f"[Main] Cooking state changed to: {state.state}")
+        if state == cookingState.CookingStates.IDLE:
-    BLINK_INTERVAL_MS = 500
+            status_led.set_color(0, 0, 0)  # Off
-    
+        elif state == cookingState.CookingStates.PREHEATING:
-    from shared.sensors import RGBLED
+            status_led.set_color(255, 165, 0)  # Orange
-    if state.state == cookingState.CookingStates.IDLE:
+        elif state == cookingState.CookingStates.COOKING:
-        status_led.color = RGBLED.OFF
+            status_led.set_color(255, 0, 0)  # Red
-        status_led.blink_off()
+        elif state == cookingState.CookingStates.DONE:
-    elif state.state == cookingState.CookingStates.COOKING:
+            status_led.set_color(0, 255, 0)  # Green
-        status_led.color = RGBLED.YELLOW
+        elif state in (
-        status_led.blink_off()
+            cookingState.CookingStates.ERROR,
-    elif state.state == cookingState.CookingStates.STIRRING_REQUIRED:
+            cookingState.CookingStates.ABORTED,
-        status_led.color = RGBLED.ORANGE
+        ):
-        status_led.blink_on(BLINK_INTERVAL_MS)
+            status_led.set_color(255, 0, 255)  # Magenta/Purple
-    elif state.state == cookingState.CookingStates.DONE:
-        status_led.color = RGBLED.GREEN
-        status_led.blink_off()
-    elif state.state == cookingState.CookingStates.ALERT:
-        status_led.color = RGBLED.RED
-        status_led.blink_on(BLINK_INTERVAL_MS)
-
-
-def on_received_cooking_state_update(new_state):
-    global cooking_state
-    if cooking_state is None:
-        print("[Main] No active cooking state to update.")
-        return
-    if log:
-        log(f"[Main] Updating cooking state to: {new_state}")
-    cooking_state.set_state(new_state)
 
 
 def on_mqtt_message(message):
-    global orchestrator_id, cooking_state
+    """Sync callback: Lightweight! Only updates variables or triggers async signals."""
+    global orchestrator_id, cooking_state, unsubscribed_hello
     print("[MQTT] Received message on topic:", message.get("topic"))
-    
+
     payload_data = None
     try:
         payload_data = json.loads(message["payload"])
     except Exception as e:
         print("[MQTT] Payload parsing warning:", e)
-    
+
     topic = message.get("topic")
 
     # 1. Orchestrator Hello Response
@@ -138,12 +132,13 @@ def on_mqtt_message(message):
     ):
         orchestrator_id = payload_data.get("id_orchestrator")
         print("[MQTT] Hello response received from orchestrator:", orchestrator_id)
-        try:
+        if not unsubscribed_hello:
-            mqtt_client.unsubscribe(config.MQTT_TOPIC_HELLO)
+            unsubscribed_hello = True
-            print("[MQTT] Unsubscribed from topic:", config.MQTT_TOPIC_HELLO)
+            try:
-        except Exception as e:
+                mqtt_client.unsubscribe(config.MQTT_TOPIC_HELLO)
-            print("[MQTT] Unsubscribe error:", e)
+                print("[MQTT] Successfully unsubscribed from topic:", config.MQTT_TOPIC_HELLO)
-            sys.print_exception(e)
+            except Exception as e:
+                print("[MQTT] Unsubscribe error:", e)
 
     # 2. Cooking Parameters / Sensor Request
     elif (
@@ -152,14 +147,9 @@ def on_mqtt_message(message):
         and payload_data.get("id_microwave") == DEVICE_ID
     ):
         if "cook_time" not in payload_data:
-            print("[MQTT] Sensor data requested by orchestrator.")
+            print("[MQTT] Sensor data requested! Triggering async publisher...")
-            obj_temp = mlx_temperature_sensor.read_object_temp() if mlx_temperature_sensor else 0
+            # Trigger async event instead of calling publish() directly inside lock context!
-            amb_temp = mlx_temperature_sensor.read_ambient_temp() if mlx_temperature_sensor else 0
+            sensor_request_event.set()
-            
-            sensor_payload = payloads.mqtt_sensor_data(DEVICE_ID, obj_temp, amb_temp)
-            mqtt_client.publish(
-                config.MQTT_TOPIC_SENSOR, sensor_payload, qos=config.MQTT_QOS
-            )
         else:
             print("[MQTT] Cooking parameters received:", payload_data)
             if cookingState:
@@ -170,26 +160,89 @@ def on_mqtt_message(message):
                 )
                 cooking_state.set_state_change_callback(on_cooking_state_change)
                 cooking_state.set_state(cookingState.CookingStates.IDLE)
-            
+
             if uart_device and UARTCommand:
                 uart_device.send_as_command(
                     UARTCommand(UARTCommandType.COOKING_PARAMS, payload_data)
                 )
-                print("[MQTT] Cooking parameters sent to LoRa board.")
+                print("[MQTT] Cooking parameters sent to LoRa board over UART.")
 
 
-mqtt_client.set_callback(on_mqtt_message)
+# --- DEDICATED ASYNC TASK FOR SENSOR PUBLISHING ---
+async def sensor_publisher_task():
+    """Waits for sensor_request_event, reads hardware, and publishes outside the MQTT lock."""
+    while True:
+        await sensor_request_event.wait()
+        sensor_request_event.clear()
+
+        print("[Sensor Task] Reading temperature sensors...")
+        obj_temp = (
+            mlx_temperature_sensor.read_object_temp()
+            if mlx_temperature_sensor
+            else 0
+        )
+        amb_temp = (
+            mlx_temperature_sensor.read_ambient_temp()
+            if mlx_temperature_sensor
+            else 0
+        )
+
+        sensor_payload = payloads.mqtt_sensor_data(DEVICE_ID, obj_temp, amb_temp)
+
+        try:
+            print("[Sensor Task] Publishing sensor data to MQTT...")
+            mqtt_client.publish(
+                config.MQTT_TOPIC_SENSOR, sensor_payload, qos=config.MQTT_QOS
+            )
+            print("[Sensor Task] Sensor data successfully published:", sensor_payload)
+        except Exception as e:
+            print("[Sensor Task] Failed to publish sensor data:", e)
+
+
+async def uart_task():
+    """Polls incoming UART messages from the LoRa board using dynamic method fallback."""
+    while True:
+        if uart_device:
+            try:
+                cmd = uart_device.read_as_command()
+
+                if cmd:
+                    print("[UART] Command received from LoRa board:", cmd)
+                    if (
+                        hasattr(cmd, "command_type")
+                        and cmd.command_type == UARTCommandType.STATE_UPDATE
+                        and on_received_cooking_state_update
+                    ):
+                        on_received_cooking_state_update(
+                            cmd.payload.get("state"),
+                            cmd.payload.get("is_error", False),
+                            cmd.payload.get("is_terminated", False),
+                        )
+            except Exception as e:
+                print("[UART Task] Error reading command:", e)
+
+        await asyncio.sleep_ms(50)
 
 
 async def connect_mqtt_async():
-    """Connects to MQTT safely while memory is clean."""
+    global mqtt_connected, mqtt_client
-    global mqtt_connected
     mqtt_connected = False
-    
+
     while True:
         try:
             print("[MQTT] Connecting to broker with TLS...")
+            # Re-instantiate client to clear old socket buffers
             gc.collect()
+            mqtt_client = get_mqtt_client(
+                host="192.168.50.1", # TODO : Use config.MQTT_BROKER_HOST instead of hardcoding
+                port=8884,
+                client_id="smartwave-esp32-demo",
+                use_tls=True,
+                cafile=MQTT_CA_FILE,
+                keepalive=30,
+            )
+            mqtt_client.set_callback(on_mqtt_message)
+            
             mqtt_client.connect()
             print("[MQTT] Connected! Subscribing to topics...")
             mqtt_client.subscribe(config.MQTT_TOPIC_COOKING, qos=config.MQTT_QOS)
@@ -204,12 +257,14 @@ async def connect_mqtt_async():
                 mqtt_client.close()
             except Exception:
                 pass
+            
+            # Force heap cleanup before sleeping
+            del mqtt_client
+            gc.collect()
+            print(f"[MQTT] Free RAM after cleanup: {gc.mem_free()} bytes")
             print("[MQTT] Retrying connection in 5 seconds...")
             await asyncio.sleep(5)
 
-
-# --- CONCURRENT ASYNC TASKS ---
-
 async def mqtt_poll_task():
     global mqtt_connected
     last_ping = time.time()
@@ -234,9 +289,18 @@ async def mqtt_poll_task():
 async def orchestrator_hello_task():
     global mqtt_connected
     while True:
-        if mqtt_connected and orchestrator_id is None:
+        if orchestrator_id is not None:
+            # Hello successfully acknowledged! Stop looping this task.
+            print("[Hello Task] Orchestrator acknowledged. Stopping hello task.")
+            break
+                
+        if mqtt_connected:
             print("[Hello Task] Sending initial hello to orchestrator...")
             try:
+                if mqtt_client is None:
+                    print("[Hello Task] MQTT client is None. Attempting to reconnect...")
+                    await connect_mqtt_async()
+                    
                 mqtt_client.publish(
                     config.MQTT_TOPIC_HELLO,
                     payloads.mqtt_hello(DEVICE_ID),
@@ -244,32 +308,11 @@ async def orchestrator_hello_task():
                 )
             except OSError as e:
                 print("[Hello Task] Hello publish failed:", e)
-                mqtt_connected = False
+                # mqtt_connected = False
-                await connect_mqtt_async()
 
         await asyncio.sleep(config.MQTT_HELLO_INTERVAL)
 
 
-async def uart_task():
-    while True:
-        if uart_device is not None:
-            while uart_device.any():
-                command = uart_device.read_as_command()
-                if command:
-                    print(f"[UART Task] Received command: {command.command_type}")
-                    if command.command_type == UARTCommandType.COOKING_STATE_UPDATE:
-                        new_state = command.payload.get("state", None)
-                        print(f"[UART Task] Cooking state update: {new_state}")
-                        on_received_cooking_state_update(new_state)
-                    else:
-                        print(f"[UART Task] Unknown command type: {command.command_type}")
-                else:
-                    raw_command = uart_device.read()
-                    print(f"[UART Task] Received raw command: {raw_command}")
-
-        await asyncio.sleep_ms(20)
-
-
 async def memory_cleanup_task():
     while True:
         gc.collect()
@@ -278,17 +321,19 @@ async def memory_cleanup_task():
 
 # --- MAIN ENTRY POINT ---
 async def main():
+    global sensor_request_event
     print("[Main] Starting application...")
+    
+    # Initialize loop-bound events
+    sensor_request_event = asyncio.Event()
 
-    # STEP 1: Connect MQTT FIRST (while RAM is unfragmented)
     await connect_mqtt_async()
-
-    # STEP 2: Initialize Hardware & Secondary Modules AFTER connection
     init_hardware()
 
-    # STEP 3: Launch tasks
+    # Launch background tasks
     asyncio.create_task(mqtt_poll_task())
     asyncio.create_task(orchestrator_hello_task())
+    asyncio.create_task(sensor_publisher_task())
     asyncio.create_task(uart_task())
     asyncio.create_task(memory_cleanup_task())
 

orchestrateur/main.py

@@ -1,394 +1,329 @@
 import base64
 import json
-import threading
-import queue
 import time
 import traceback
-
+import asyncio
 import requests
+
 from orchestrateur.sensors import gps
 from shared import get_lora, get_mqtt_client, deviceTypes, config, payloads
 from shared.logging import log
+from shared.cookingState import CookingStates
+from shared.lora_device import LoraCommands
 from sensors import ultrasonicRanger, temp_hum, button, camera
 
 # --- Read Unique Device ID ---
-try:
+def get_device_id():
-    with open("device_id.txt", "r") as f:
+    for path in ["device_id.txt", "/home/pi/SmartWave/orchestrateur/device_id.txt"]:
-        DEVICE_ID = f.read().strip()
+        try:
-except Exception:
+            with open(path, "r") as f:
-    try:
+                return f.read().strip()
-        with open("/home/pi/SmartWave/orchestrateur/device_id.txt", "r") as f:
+        except Exception:
-            DEVICE_ID = f.read().strip()
+            pass
-    except Exception:
+    return "RPI_Orchestrateur_Default"
-        DEVICE_ID = "RPI_Orchestrateur_Default"
 
-# Thread-safe queue for application messages
+DEVICE_ID = get_device_id()
-data_queue = queue.Queue()
-cooking_queue = {}
-active_cooks = {}
-active_cooks_lock = threading.Lock()
 
+# --- STATE MACHINE DEFINITIONS ---
+class MicrowaveState:
+    IDLE = "IDLE"                               # Microwave is empty
+    ANALYZING = "ANALYZING"                     # Reading sensors & waiting for IR
+    WAITING_FOR_CLOUD = "WAITING_FOR_CLOUD"     # Waiting for API parameters
+    COOKING = "COOKING"                         # Microwave is active
+    DONE = "DONE"                               # Finished/Stopped, waiting for dish removal
+
+# Global state trackers
+microwave_states = {"2": MicrowaveState.IDLE}
+cooking_data_cache = {}  # Replaces cooking_queue
+button_state = False
+async_event_queue = None
+
+# --- HARDWARE SETUP ---
 lora = get_lora()
 lora.configure()
 
-def lora_listener():
-    """Background Thread: Listens to LoRa traffic and responds to Heartbeats."""
-    print("Thread Écouteur LoRa démarré.")
-    while True:
-        paquet = lora.receive_packet(timeout_ms=1000)
-        if paquet:
-            donnees = paquet["data"]
-            expediteur_type = donnees.get("type")
-            
-            if expediteur_type == deviceTypes.DEVICE_TYPES["MICROWAVE"]:
-                print(f"\n[Thread LoRa] Heartbeat reçu de {donnees.get('id')}")
-                reponse = {
-                    "id": DEVICE_ID,
-                    "type": deviceTypes.DEVICE_TYPES["ORCHESTRATOR"]
-                }
-                lora.send(reponse)
-            else:
-                data_queue.put({"source": "LoRa", "data": paquet})
-
-# --- Setup & Connect MQTT ---
 mqtt_client = get_mqtt_client(
-    host="192.168.50.1", # Using explicit gateway IP to dodge Docker loopback blocks
+    host="192.168.50.1",
-    client_id="smartwave-orchestrateur-"+DEVICE_ID,
+    client_id="smartwave-orchestrateur-" + DEVICE_ID,
     use_tls=config.USE_TLS,
     cafile="/home/pi/SmartWave/orchestrateur/mqtt/certs/ca.crt",
     keepalive=config.MQTT_KEEPALIVE,
 )
 mqtt_client.connect()
 mqtt_client.subscribe(config.MQTT_TOPIC_SENSOR, qos=config.MQTT_QOS)
-print(f"Subscribed to topic: {config.MQTT_TOPIC_SENSOR}")
 mqtt_client.subscribe(config.MQTT_TOPIC_HELLO, qos=config.MQTT_QOS)
-print(f"Subscribed to topic: {config.MQTT_TOPIC_HELLO}")
 
-# --- THE CRUCIAL PAHO FIX ---
-# Start Paho's internal background thread. This handles all network packets,
-# automatic keepalive pings, and delivery receipts cleanly.
 if hasattr(mqtt_client._client, "loop_start"):
     mqtt_client._client.loop_start()
-    print("Paho MQTT asynchronous network loop started.")
+    print("[MQTT] Paho background loop started.")
 
+# --- BACKGROUND TASKS (PRODUCERS) ---
+async def lora_listener_task():
+    """Polls LoRa and pushes to the async queue."""
+    print("[LoRa] Async listener started.")
+    while True:
+        # Run blocking lora receive in a thread to not block asyncio loop
+        paquet = await asyncio.to_thread(lora.receive_reliable, timeout_ms=100)
+        if paquet:
+            await async_event_queue.put({"source": "LoRa", "data": paquet})
+        await asyncio.sleep(0.05)
 
-def mqtt_listener():
+async def mqtt_listener_task():
-    """Background Thread: Constantly inspects incoming MQTT message cache."""
+    """Polls MQTT cache and pushes to the async queue."""
-    print("Thread MQTT démarré.")
+    print("[MQTT] Async listener started.")
     while True:
         message = mqtt_client.get_message()
-        
         if message:
-            # Try to parse the payload as a python dictionary, but if it fails, just print the raw payload
             try:
                 payload = json.loads(message['payload'])
-            except Exception as e:
+            except Exception:
-                print(f"Error parsing MQTT payload: {e}")
+                payload = message['payload']
-                payload = message['payload']  # Fallback to raw payload if parsing fails
             
-            print(f"\n[Thread MQTT] Message reçu : {message}")
+            # --- SAFE TOPIC DECODING ---
-            data_queue.put({"source": "MQTT", "topic": message['topic'] ,"data": payload})
+            topic = message['topic']
-        
+            if isinstance(topic, bytes):
-        # Sleep for 100ms. Prevents the thread from turning into an infinite 100% CPU hog.
+                topic = topic.decode('utf-8')
-        time.sleep(0.2)
+
+            await async_event_queue.put({
+                "source": "MQTT",
+                "topic": topic,
+                "data": payload
+            })
+        await asyncio.sleep(0.1)
 
-# Button
-button_state = False
 def button_callback():
+    """Button physical interrupt callback."""
     global button_state
-    button_state = not button_state
+    if microwave_states.get("2") == MicrowaveState.COOKING:
-    print(f"\n[Thread Button] Button state changed to: {button_state}")
+        print("[Button] Toggling pause/resume for microwave '2'.")
-    
+        lora.send_reliable({"id": DEVICE_ID, "microwave_id": "2", "action": LoraCommands.TOGGLE_PAUSE})
-button.set_callback(button_callback)
+    else:
+        button_state = not button_state
+        print(f"[Button] Defrost state toggled to: {button_state}")
 
-# Launch background monitoring workers
+button.set_callback(button_callback)
-threading.Thread(target=lora_listener, daemon=True).start()
-threading.Thread(target=mqtt_listener, daemon=True).start()
-# Launch button monitoring thread
 button.start_button_monitoring_thread()
 
-print("Orchestrateur prêt. Le main loop est libre.")
+# --- HARDWARE CONTROLLERS ---
-
-def _tryReadSensorsWithRetries(func, exception=True, max_retries=3, delay=1):
-    """
-    Tries to read the sensor max_retries times until the return value of func is not None.
-    It will then return the value of func. If it fails max_retries times, it will fail if exception is True, otherwise it will return None.
-    """
-    
-    for attempt in range(max_retries):
-        result = func()
-        if result is not None:
-            return result
-        else:
-            log(f"Attempt {attempt + 1} failed. Retrying in {delay} seconds...")
-            time.sleep(delay)
-    
-    if exception:
-        raise Exception(f"Failed to read sensor after {max_retries} attempts.")
-    else:
-        return None
-
-def read_sensors_for_cooking(microwave_id):
-    """Read all sensors and return a dictionary of their values, including the microwave ID."""
-    log("\nLecture des capteurs...")
-    sensor_data = {}
-    sensor_data["microwave_id"] = microwave_id
-    
-    # === Notify the microwave of needed sensor readings ===
-    mqtt_client.publish(config.MQTT_TOPIC_COOKING, payloads.mqtt_cooking_init(microwave_id), qos=config.MQTT_QOS)
-    
-    # Read Ultrasonic Ranger
-    sensor_data["ultrasonic_distance"] = _tryReadSensorsWithRetries(ultrasonicRanger.get_dish_height)
-    log(f"\nLecture du capteur Ultrason : {sensor_data['ultrasonic_distance']}")
-
-    # Read Temperature and Humidity
-    temperature, humidity = temp_hum.get_temperature_and_humidity_with_retry()
-    if temperature is not None and humidity is not None:
-        log(f"\nLecture du capteur Temp/Hum : {temperature}, {humidity}")
-        sensor_data["temperature"] = temperature
-        sensor_data["humidity"] = humidity
-        
-    # Camera
-    def _getPicture():
-        picture_bytes = None
-        try:
-            picture_bytes = camera.get_picture()
-            return picture_bytes
-        except Exception as e:
-            log(f"Error reading camera data: {e}")
-            return None
-    sensor_data["camera_image"] = _tryReadSensorsWithRetries(_getPicture, exception=True)
-    log(f"\nPhoto de la Caméra : {len(sensor_data['camera_image'])} bytes")
-
-    # Read Button State (last because he can still change state while reading other sensors)
-    sensor_data["defrost_mode"] = button_state
-    
-    cooking_queue[microwave_id] = sensor_data
-
-
 def _stop_hardware(microwave_id: str):
-    """
+    print(f"[{microwave_id}] /!\ Emergency stop issued to hardware.")
-    Hardware driver stop — halts magnetron/turntable immediately.
+    # TODO: Add LoRa STOP command here
-    """
-    print(f"[{microwave_id}] 🛑 Emergency stop issued to hardware.")
-    # TODO: Add physical hardware stop command here
-    # e.g., gpio_controller.stop()
 
-
+# --- ASYNC COOKING LOGIC ---
-def _send_params_to_microwave(microwave_id: str, cook_time: int, power_level: int, target_temp: float, cancel_event: threading.Event):
+def read_local_sensors(microwave_id, initial_dish_height):
-    """
+    """Blocking function to read local I2C/SPI sensors. Runs in a thread."""
-    Triggers physical microwave execution.
+    print(f"[{microwave_id}] Reading local physical sensors...")
-    """
+    sensor_data = {
-    if cancel_event.is_set():
+        "microwave_id": microwave_id,
-        return
+        "defrost_mode": button_state,
-
+        "ultrasonic_distance": initial_dish_height  # Reuse height from trigger
-    print(f"[{microwave_id}] Sending microwave {microwave_id} cooking parameters : {cook_time}s @ {power_level}W power, target temp {target_temp}°C.")
+    }
-    mqtt_client.publish(config.MQTT_TOPIC_COOKING, payloads.mqtt_cooking_config(microwave_id, cook_time, power_level, target_temp), qos=config.MQTT_QOS)
-
-def _cooking_worker(microwave_id: str, sensors_data: dict, cancel_event: threading.Event):
-    """Worker function executing cloud API calls and hardware triggers."""
-    URL = "https://smartwave.matthiasg.dev/cooking-params"
     
+    # Temp / Hum (handles DHT error safely)
     try:
-        # Check cancellation before network call
+        temp, hum = temp_hum.get_temperature_and_humidity_with_retry()
-        if cancel_event.is_set():
+        if temp is not None:
-            print(f"[{microwave_id}] Job canceled before starting API call.")
+            sensor_data["temperature"] = temp
-            return
+            sensor_data["humidity"] = hum
-
-        log(f"[{microwave_id}] Sending sensor data to cloud API...")
-        
-        # Ensure camera_image is encoded to Base64 string if it's currently raw bytes
-        if isinstance(sensors_data.get("camera_image"), bytes):
-            sensors_data["camera_image"] = base64.b64encode(sensors_data["camera_image"]).decode("utf-8")
-        
-        # 1. HTTP Request (15-second timeout)
-        response = requests.post(URL, json=sensors_data, timeout=360)  # timeout for long-running requests
-        
-        # Check cancellation right after network call returns
-        if cancel_event.is_set():
-            print(f"[{microwave_id}] Job was canceled while waiting for cloud response. Discarding result.")
-            return
-
-        log(f"[{microwave_id}] Cloud API responded with : {response.json()}")
-        if response.status_code != 200 and response.status_code != 201:
-            print(f"[{microwave_id}] Cloud API returned error {response.status_code}: {response.json()}")
-        response.raise_for_status()
-        
-        # 2. Extract Response Parameters
-        response_json = response.json()
-        cook_plan = response_json.get("cook_plan", {})
-        
-        cook_time = cook_plan.get("cook_time_seconds")
-        power_level = cook_plan.get("effective_power_watts")
-        target_temp = cook_plan.get("target_temp")
-        dish_name = response_json.get("dish_name", "Unknown Dish")
-
-        if cook_time is None or power_level is None or target_temp is None:
-            print(f"[{microwave_id}] Cloud returned incomplete plan: {response_json}")
-            return
-
-        # Check cancellation before starting physical microwave
-        if cancel_event.is_set():
-            print(f"[{microwave_id}] Job was canceled before starting hardware execution.")
-            return
-
-        print(f"[{microwave_id}] Received plan for '{dish_name}': {cook_time}s @ {power_level}W power, target temp {target_temp}°C.")
-
-        # 3. Start Hardware Execution
-        _send_params_to_microwave(microwave_id, cook_time, power_level, target_temp, cancel_event)
-
-    except requests.exceptions.Timeout:
-        print(f"[{microwave_id}] Request timed out waiting for cloud response.")
-    except requests.exceptions.RequestException as e:
-        print(f"[{microwave_id}] HTTP error reaching cloud API: {e}")
     except Exception as e:
-        print(f"[{microwave_id}] Unexpected error in worker thread: {e}")
+        log(f"[{microwave_id}] DHT read warning: {e}")
-        traceback.print_exc()
-    finally:
-        # Clean up registry entry if this worker was the active one
-        with active_cooks_lock:
-            if active_cooks.get(microwave_id) == cancel_event:
-                del active_cooks[microwave_id]
-
-
-def start_cooking_for_microwave(microwave_id: str, sensors_data: dict):
-    """
-    Sends sensors data to the cloud and starts cooking in a separate thread.
-    If a worker is already running for the given microwave_id, it cancels
-    the previous process and stops the hardware before starting the new one.
-    """
-    with active_cooks_lock:
-        # 1. If an active job exists for this microwave, cancel it
-        if microwave_id in active_cooks:
-            print(f"[{microwave_id}] Existing cooking job detected! Canceling old worker...")
-            active_cooks[microwave_id].set()  # Signal existing thread to abort
-            _stop_hardware(microwave_id)       # Stop hardware immediately
-
-        # 2. Register a new cancellation event for this microwave
-        cancel_event = threading.Event()
-        active_cooks[microwave_id] = cancel_event
-
-    # 3. Start the new background worker thread
-    thread = threading.Thread(
-        target=_cooking_worker,
-        args=(microwave_id, sensors_data, cancel_event),
-        daemon=True
-    )
-    thread.start()
-
-# Sensor reading
-def read_sensors():
-    """Read all sensors and return a dictionary of their values."""
-    log("\nLecture des capteurs...")
-    sensor_data = {}
-    
-    # Read Ultrasonic Ranger
-    distance = ultrasonicRanger.get_dish_height()
-    if distance is not None:
-        log(f"\nLecture du capteur Ultrason : {distance}")
-        sensor_data["ultrasonic_distance"] = distance
-
-    # Read Temperature and Humidity
-    temperature, humidity = temp_hum.get_temperature_and_humidity()
-    if temperature is not None and humidity is not None:
-        log(f"\nLecture du capteur Temp/Hum : {temperature}, {humidity}")
-        sensor_data["temperature"] = temperature
-        sensor_data["humidity"] = humidity
-    
-
-    # Read GPS Data
-    gps_data = gps.get_gps_data()
-    if gps_data:
-        log(f"\nLecture du capteur GPS : {gps_data}")
-        sensor_data["gps"] = gps_data
         
     # Camera
-    picture_bytes = None
     try:
-        picture_bytes = camera.get_picture()
+        sensor_data["camera_image"] = camera.get_picture()
-        log(f"\nLecture du capteur Caméra : {len(picture_bytes)} bytes")
-        sensor_data["camera_image"] = picture_bytes
     except Exception as e:
-        log(f"Error reading camera data: {e}")
+        log(f"[{microwave_id}] Camera read failed: {e}")
-
+        
-    # Read Button State (last because he can still change state while reading other sensors)
-    sensor_data["defrost_state"] = button_state
-
     return sensor_data
 
-# --- MAIN EXECUTION LOOP ---
-while True:
-    try:
-        # === TREAT MESSAGE QUEUE ===
-        try:
-            msg = data_queue.get(block=False)
-            
-            # print(msg)
-            
-            if msg["source"] == "LoRa":
-                print(f"\n[Main Loop] LoRa : Données traitées : {msg['data']}")
-            elif msg["source"] == "MQTT":
-                # MQTT HELLO
-                if (msg["topic"] == config.MQTT_TOPIC_HELLO.decode('utf-8')):
-                    if ("id_orchestrator" in msg["data"] and msg["data"]["id_orchestrator"] == DEVICE_ID):
-                        # Do not answer to messages coming from me
-                        continue
-                    microwave_id = msg["data"]["id_microwave"]
-                    print(f"\n[Main Loop] MQTT : Hello reçu de {microwave_id}.")
-                    # Responds 
-                    mqtt_client.publish(config.MQTT_TOPIC_HELLO, payloads.mqtt_hello_ack(DEVICE_ID, microwave_id), qos=config.MQTT_QOS)
-                    print(f"[Main Loop] MQTT : Réponse Hello envoyée à {microwave_id}.")
-                    # TODO : Save in database
-                # MQTT SENSOR DATA
-                elif (msg["topic"] == config.MQTT_TOPIC_SENSOR.decode('utf-8')):
-                    print(f"\n[Main Loop] MQTT : Données capteurs reçues du micro-ondes : {msg['data']}")                
-                    microwave_id = msg["data"].get("id_microwave")
-                    if not microwave_id:
-                        print("[Main Loop] MQTT : Données capteurs reçues sans ID micro-ondes. Ignoré.")
-                        continue
-                    # Get the already existing cooking data for this microwave
-                    sensors_data = cooking_queue.get(microwave_id)
-                    if sensors_data is None:
-                        print(f"[Main Loop] MQTT : Données capteurs reçues pour {microwave_id} mais aucune donnée de cuisson en cours. Ignoré.")
-                        continue
-                    # Merge the received sensor data into the existing cooking data
-                    sensors_data["ir_initial_temp"] = msg["data"].get("dish_temp")
-                    sensors_data["ir_ambient_temp"] = msg["data"].get("ambient_temp")
-                    start_cooking_for_microwave(microwave_id, sensors_data)
-                    # Remove the cooking data from the queue since it's now being processed
-                    del cooking_queue[microwave_id]
-                    
-                print(f"\n[Main Loop] MQTT : Données traitées : {msg['data']}")
-        except queue.Empty:
-            pass
-        
-        # === CHECK FOR DISH INSERTED ===
-        # Read the dish height from the ultrasonic sensor. If it's below a certain threshold, we assume a dish has been inserted.
-        dish_height = ultrasonicRanger.get_dish_height()
-        if dish_height is not None and dish_height > 2.0:  # Threshold in cm for detecting a dish
-            print(f"\n[Main Loop] Dish detected at height: {dish_height} cm. Initiating sensor read...")
-            # Read all sensors and store the data in the cooking queue for this microwave
-            read_sensors_for_cooking("2")
-            print(f"[Main Loop] Sensor data collected and queued for cooking.")
-        
-        # DEBUG : Read sensors
-        # sensor_values = read_sensors()
-        # if sensor_values:
-        #     sensor_values_print = sensor_values.copy()
-        #     if "camera_image" in sensor_values_print:
-        #         sensor_values_print["camera_image"] = f"<{len(sensor_values_print['camera_image'])} bytes>"
-        #     print(f"\nCapteurs Données lues : {sensor_values_print}")
-            
-        time.sleep(3)
-        
-        
-    except KeyboardInterrupt:
-        break
-    except Exception as e:
-        traceback.print_exc()
-        time.sleep(1)  # Prevents rapid error logging in case of persistent issues
 
-# Clean termination
+async def handle_new_dish(microwave_id, detected_height):
-if hasattr(mqtt_client._client, "loop_stop"):
+    """Triggered when a new dish is placed inside."""
-    mqtt_client._client.loop_stop()
+    microwave_states[microwave_id] = MicrowaveState.ANALYZING
-mqtt_client.close()
+    print(f"\n[{microwave_id}] 🍽️ Dish detected at {detected_height:.1f} cm! Requesting IR from microwave...")
+    
+    # 1. Ask microwave for IR temp via MQTT
+    mqtt_client.publish(config.MQTT_TOPIC_COOKING, payloads.mqtt_cooking_init(microwave_id), qos=config.MQTT_QOS)
+    
+    # 2. Read local sensors (passing detected_height to prevent GPIO collision)
+    sensors = await asyncio.to_thread(read_local_sensors, microwave_id, detected_height)
+    
+    # Check if state changed while taking photos
+    if microwave_states[microwave_id] != MicrowaveState.ANALYZING:
+        print(f"[{microwave_id}] Dish removed during sensor read. Aborting.")
+        return
+
+    cooking_data_cache[microwave_id] = sensors
+    print(f"[{microwave_id}] Local sensors cached. Waiting for MQTT IR data...")
+
+async def request_cloud_cooking_plan(microwave_id, sensors_data):
+    """Sends all data to the cloud and starts the microwave if successful."""
+    microwave_states[microwave_id] = MicrowaveState.WAITING_FOR_CLOUD
+    URL = "https://smartwave.matthiasg.dev/cooking-params"
+    
+    # Format image
+    if isinstance(sensors_data.get("camera_image"), bytes):
+        sensors_data["camera_image"] = base64.b64encode(sensors_data["camera_image"]).decode("utf-8")
+        
+    print(f"[{microwave_id}] Requesting cooking plan from cloud app...")
+    try:
+        response = await asyncio.to_thread(requests.post, URL, json=sensors_data, timeout=30)
+        
+        # Abort if state changed (e.g. user removed dish while waiting for wifi)
+        if microwave_states[microwave_id] != MicrowaveState.WAITING_FOR_CLOUD:
+            print(f"[{microwave_id}] Dish removed during API request. Discarding API plan.")
+            return
+
+        response.raise_for_status()
+        plan = response.json().get("cook_plan", {})
+        c_time = plan.get("cook_time_seconds")
+        c_power = plan.get("effective_power_watts")
+        c_temp = plan.get("target_temp")
+        
+        if c_time is None or c_power is None or c_temp is None:
+            print(f"[{microwave_id}] ❌ Invalid plan received: {response.json()}")
+            microwave_states[microwave_id] = MicrowaveState.DONE # Fail safe
+            return
+
+        print(f"[{microwave_id}] Cloud Plan Received! Starting microwave: {c_time}s @ {c_power}W")
+        microwave_states[microwave_id] = MicrowaveState.COOKING
+        mqtt_client.publish(
+            config.MQTT_TOPIC_COOKING, 
+            payloads.mqtt_cooking_config(microwave_id, c_time, c_power, c_temp), 
+            qos=config.MQTT_QOS
+        )
+        
+    except Exception as e:
+        print(f"[{microwave_id}] Cloud API Error: {e}")
+        microwave_states[microwave_id] = MicrowaveState.DONE
+
+# --- MAIN LOGIC TASKS ---
+async def process_messages_task():
+    """Consumes the unified event queue."""
+    while True:
+        msg = await async_event_queue.get()
+        source = msg["source"]
+        data = msg["data"]
+        
+        if source == "LoRa":
+            if "new_cooking_state" in data.get("data", {}):
+                mw_id = data["data"].get("id")
+                n_state = data["data"].get("new_cooking_state")
+                print(f"[LoRa] Microwave {mw_id} state changed to: {n_state}")
+                
+                if n_state == CookingStates.IDLE and microwave_states.get(mw_id) == MicrowaveState.COOKING:
+                    microwave_states[mw_id] = MicrowaveState.DONE
+                    print(f"[{mw_id}] Cooking finished. Waiting for user to remove dish.")
+                    
+        elif source == "MQTT":
+            topic = msg["topic"]
+            
+            # Helper to normalize config topics to str
+            def to_str(val):
+                return val.decode('utf-8') if isinstance(val, bytes) else val
+
+            hello_topic = to_str(config.MQTT_TOPIC_HELLO)
+            sensor_topic = to_str(config.MQTT_TOPIC_SENSOR)
+            
+            if topic == hello_topic:
+                if data.get("id_orchestrator") != DEVICE_ID:
+                    mw_id = data.get("id_microwave")
+                    print(f"[MQTT] Hello from {mw_id}. Sending ACK.")
+                    mqtt_client.publish(
+                        config.MQTT_TOPIC_HELLO,
+                        payloads.mqtt_hello_ack(DEVICE_ID, mw_id),
+                        qos=config.MQTT_QOS
+                    )
+            
+            elif topic == sensor_topic:
+                mw_id = data.get("id_microwave")
+                
+                if mw_id and microwave_states.get(mw_id) == MicrowaveState.ANALYZING:
+                    sensors = cooking_data_cache.get(mw_id)
+                    if sensors:
+                        sensors["ir_initial_temp"] = data.get("dish_temp")
+                        sensors["ir_ambient_temp"] = data.get("ambient_temp")
+                        asyncio.create_task(request_cloud_cooking_plan(mw_id, sensors))
+
+async def get_filtered_dish_height(samples=3, delay=0.04):
+    """Reads ultrasonic sensor multiple times and returns the median, discarding invalid zeros."""
+    valid_samples = []
+    for _ in range(samples):
+        h = await asyncio.to_thread(ultrasonicRanger.get_dish_height)
+        # Discard 0.0 or near-zero timeout glitches
+        if h is not None and h > 0.5:
+            valid_samples.append(h)
+        await asyncio.sleep(delay)
+    
+    if valid_samples:
+        valid_samples.sort()
+        return valid_samples[len(valid_samples) // 2]  # Median sample
+    return None  # All reads failed or out of range
+
+
+async def monitor_dish_height_task():
+    """Monitors presence of dish with hysteresis and debouncing."""
+    mw_id = "2"
+    consecutive_present = 0
+    consecutive_absent = 0
+    REQUIRED_STABLE_READS = 3  # Must see 3 stable states in a row (~1 second)
+
+    while True:
+        dist = await get_filtered_dish_height()
+        current_state = microwave_states.get(mw_id, MicrowaveState.IDLE)
+        
+        if dist is not None:
+            # Hysteresis Thresholds:
+            # - Must be > 2.5 cm to detect dish insertion
+            # - Must be < 1.2 cm to detect dish removal
+            if dist > 2.5:
+                consecutive_present += 1
+                consecutive_absent = 0
+            elif dist < 1.2:
+                consecutive_absent += 1
+                consecutive_present = 0
+            else:
+                # Dead-zone (1.2cm to 2.5cm) -> Noise buffer
+                consecutive_present = 0
+                consecutive_absent = 0
+
+            # --- DISH INSERTED CONFIRMED ---
+            if consecutive_present >= REQUIRED_STABLE_READS and current_state == MicrowaveState.IDLE:
+                consecutive_present = 0
+                asyncio.create_task(handle_new_dish(mw_id, dist))
+
+            # --- DISH REMOVED CONFIRMED ---
+            elif consecutive_absent >= REQUIRED_STABLE_READS and current_state != MicrowaveState.IDLE:
+                consecutive_absent = 0
+                print(f"\n[{mw_id}] Dish Removed! Resetting state to IDLE.")
+                microwave_states[mw_id] = MicrowaveState.IDLE
+                if current_state == MicrowaveState.COOKING:
+                    _stop_hardware(mw_id)
+                if mw_id in cooking_data_cache:
+                    del cooking_data_cache[mw_id]
+        
+        await asyncio.sleep(0.3)
+
+# --- BOOTSTRAP ---
+async def main():
+    global async_event_queue
+    print("🚀 Orchestrateur Asyncio prêt. Lancement des tâches...")
+    
+    async_event_queue = asyncio.Queue()
+    
+    await asyncio.gather(
+        lora_listener_task(),
+        mqtt_listener_task(),
+        process_messages_task(),
+        monitor_dish_height_task()
+    )
+
+if __name__ == "__main__":
+    try:
+        asyncio.run(main())
+    except KeyboardInterrupt:
+        print("\nArrêt manuel.")
+    finally:
+        if hasattr(mqtt_client._client, "loop_stop"):
+            mqtt_client._client.loop_stop()
+        mqtt_client.close()