Refactor radar system

python_app/hardware_full/switched_matrix_radar_service.py

@@ -38,21 +38,24 @@ class SwitchedMatrixRadarService:
 
     def open(self) -> None:
         """Open the inner radar and both switches."""
-        self.inner.open()
-        if self.output_switch is not None:
-            self.output_switch.open()
-        if self.input_switch is not None:
-            self.input_switch.open()
+        try:
+            self.inner.open()
+            if self.output_switch is not None:
+                self.output_switch.open()
+            if self.input_switch is not None:
+                self.input_switch.open()
+        except Exception:
+            self.close()
+            raise
 
     def close(self) -> None:
         """Close switches first, then the inner radar; never raises."""
-        for switch in (self.input_switch, self.output_switch):
-            if switch is not None:
+        for resource in (self.input_switch, self.output_switch, self.inner):
+            if resource is not None:
                 try:
-                    switch.close()
+                    resource.close()
                 except Exception as exc:  # noqa: BLE001 — shutdown path
-                    logger.warning("Switch close ignored error: %s", exc)
-        self.inner.close()
+                    logger.warning("Switched matrix cleanup failed: %s", exc)
 
     def configure(self, sweep: RadarSweepModel) -> None:
         """Apply sweep settings to the inner radar."""
@@ -211,4 +214,4 @@ def build_physical_switch(
     driver_mode = "mock" if radar_driver_mode.strip().lower() == "mock" else "native"
     return SwitchService.from_model(
         replace(model, positions=physical_positions, driver_mode=driver_mode)
-    )
+    )