some changes and log fix

python_app/hardware_full/switched_matrix_radar_service.py

@@ -2,7 +2,7 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass, replace
+from dataclasses import dataclass, field, replace
 import logging
 import time
 
@@ -31,6 +31,10 @@ class SwitchedMatrixRadarService:
     inner_output_positions: int
     inner_input_positions: int
     settling_ms: int = 0
+    # Monotonic end of the previous inner collection, so the DEBUG timing trace can
+    # report how long the gap between "sweep collected" and "switch driven" really is
+    # — that gap is where a stale in-flight point 0 can still slip past the drain.
+    _last_inner_end_ns: int = field(init=False, default=0, repr=False)
 
     def open(self) -> None:
         """Open the inner radar and both switches."""
@@ -78,17 +82,37 @@ class SwitchedMatrixRadarService:
         slots: list[TraceData | None] = [None] * (total_inputs * total_outputs)
 
         for out_k in range(out_steps):
-            if self.output_switch is not None:
-                self.output_switch.switch_to(out_k)
             for in_k in range(in_steps):
+                step_start_ns = time.monotonic_ns()
+                if self.output_switch is not None:
+                    self.output_switch.switch_to(out_k)
                 if self.input_switch is not None:
                     self.input_switch.switch_to(in_k)
+                switched_ns = time.monotonic_ns()
                 # Settle AFTER the last switch change and BEFORE collecting, so the
                 # cycle we anchor on starts with the RF path already stable.
                 if self.settling_ms > 0:
                     time.sleep(self.settling_ms / 1000.0)
+                settled_ns = time.monotonic_ns()
 
                 sub = self.inner.acquire_collection(collection_id)
+                inner_end_ns = time.monotonic_ns()
+                logger.debug(
+                    "timing: collection %d step out=%d in=%d | gap_prev_collect_to_switch=%s ms, "
+                    "switch=%.3f ms, settle=%.2f ms, inner_collect=%.2f ms",
+                    collection_id,
+                    out_k,
+                    in_k,
+                    (
+                        f"{(step_start_ns - self._last_inner_end_ns) / 1e6:.2f}"
+                        if self._last_inner_end_ns
+                        else "n/a"
+                    ),
+                    (switched_ns - step_start_ns) / 1e6,
+                    (settled_ns - switched_ns) / 1e6,
+                    (inner_end_ns - settled_ns) / 1e6,
+                )
+                self._last_inner_end_ns = inner_end_ns
                 for trace in sub.traces:
                     input_pos = in_k * self.inner_input_positions + int(trace.combo.input)
                     output_pos = out_k * self.inner_output_positions + int(trace.combo.output)