microfix

python_app/scripts/kamil_adc_calibrate.py

@@ -31,7 +31,9 @@ from contextlib import suppress
 import json
 import logging
 from pathlib import Path
+import shutil
 import statistics
+import subprocess
 import time
 
 import numpy as np
@@ -65,6 +67,60 @@ DO8_FREQ_REF_ARGS = [
 ]
 COLLECTOR_PATH = "build/bin/kamil_adc_collector"
 
+# Hardware the daemon / a prior collector may be holding, and how to free it.
+# Mirrors what start.sh does before an interactive launch (stop the daemon, kill
+# an orphaned collector) so this tool can grab the L-Card E-502 + lasers too.
+RADAR_SERVICE_NAME = "radar.service"
+COLLECTOR_PROCESS_PATTERN = "kamil_adc_collector"
+# The E-502 is not reacquirable the instant it is released; wait before opening.
+_DEVICE_SETTLE_SECONDS = 8.0
+
+
+def _release_radar_hardware(*, settle_seconds: float = _DEVICE_SETTLE_SECONDS) -> None:
+    """Free the L-Card E-502 + lasers before we open our own collector.
+
+    Mirrors ``start.sh`` on an interactive launch: stop the headless
+    ``radar.service`` daemon (if active) so it releases the hardware, then kill any
+    orphaned ``kamil_adc_collector`` a prior (e.g. SSH-killed) run left holding the
+    device. Both steps are best-effort and non-fatal — the collector's own
+    open-retry covers the residual settle time — this just removes the usual reason
+    it never frees up. Passwordless ``sudo systemctl stop radar.service`` is
+    provisioned in ``/etc/sudoers.d/radar``.
+    """
+    freed = False
+
+    systemctl = shutil.which("systemctl")
+    if systemctl is not None:
+        is_active = subprocess.run(
+            [systemctl, "is-active", "--quiet", RADAR_SERVICE_NAME],
+            check=False,
+        ).returncode == 0
+        if is_active:
+            logger.info("Stopping %s so it releases the radar hardware...", RADAR_SERVICE_NAME)
+            stopped = subprocess.run(
+                ["sudo", systemctl, "stop", RADAR_SERVICE_NAME], check=False
+            ).returncode == 0
+            if stopped:
+                freed = True
+            else:
+                logger.warning(
+                    "Could not stop %s (need passwordless sudo?); continuing anyway",
+                    RADAR_SERVICE_NAME,
+                )
+
+    pkill = shutil.which("pkill")
+    if pkill is not None:
+        # pkill returns 0 when it matched & signalled at least one process.
+        if subprocess.run(
+            [pkill, "-9", "-f", COLLECTOR_PROCESS_PATTERN], check=False
+        ).returncode == 0:
+            logger.info("Killed orphaned %s process(es) holding the device", COLLECTOR_PROCESS_PATTERN)
+            freed = True
+
+    if freed:
+        logger.info("Waiting %.0fs for the L-Card E-502 to settle...", settle_seconds)
+        time.sleep(settle_seconds)
+
 
 def _open_with_retry(service: KamilAdcService, *, attempts: int = 4, delay_s: float = 8.0) -> None:
     """Open the collector, retrying the transient E-502 device-busy after a close.
@@ -519,6 +575,11 @@ def main() -> int:
     parser.add_argument("--warmup", type=int, default=10, help="Sweeps to discard first (default 10)")
     parser.add_argument("--apply", action="store_true", help="Write the calibration back to --config")
     parser.add_argument("--no-laser", action="store_true", help="Skip laser setup (already running)")
+    parser.add_argument(
+        "--no-release",
+        action="store_true",
+        help="Do not stop radar.service / kill orphaned collectors before opening",
+    )
     parser.add_argument(
         "--diagnose",
         action="store_true",
@@ -541,6 +602,11 @@ def main() -> int:
     config.radar.kamil_adc.executable_path = COLLECTOR_PATH
     config.radar.kamil_adc.args = list(DO8_FREQ_REF_ARGS)
 
+    # Free the device the headless daemon / an orphaned collector may be holding,
+    # so opening our own collector does not fail with E-502 device-busy.
+    if not args.no_release:
+        _release_radar_hardware()
+
     if not args.no_laser:
         logger.info("Applying laser control...")
         apply_kamil_adc_laser_control(config)