fix mic race and mcu install

Author: Emeteil

robot_orchestrator/cli.py

@@ -105,6 +105,11 @@ def _ensure_platformio_venv(paths: Paths) -> Path:
     venv_path.parent.mkdir(parents=True, exist_ok=True)
     subprocess.run([sys.executable, "-m", "venv", str(venv_path)], check=True, capture_output=True, text=True)
     subprocess.run([str(venv_pip(venv_path)), "install", "platformio"], check=True, capture_output=True, text=True)
+    env = {**os.environ, "PLATFORMIO_CORE_DIR": str(paths.pio_core_dir)}
+    subprocess.run(
+        [str(venv_python(venv_path)), "-m", "platformio", "pkg", "install", "-g", "-t", "platformio/tool-openocd"],
+        env=env, check=True, capture_output=True, text=True,
+    )
     marker.write_text("")
     return venv_path
 

robot_orchestrator/hal/real/microphone.py

@@ -1,14 +1,27 @@
+import time
+
 from robot_orchestrator.config import MicrophoneConfig
 from robot_orchestrator.hal.base import ProbeResult
 
 FALLBACK_SAMPLERATES = [48000, 44100, 32000, 22050, 16000, 8000]
+RETRY_ATTEMPTS = 3
+RETRY_DELAY_S = 1.0
 
 
 class RealMicProbe:
     def __init__(self, config: MicrophoneConfig):
         self.config = config
 
     def probe(self) -> ProbeResult:
+        result = self._probe_once()
+        for _ in range(RETRY_ATTEMPTS - 1):
+            if result.ok:
+                return result
+            time.sleep(RETRY_DELAY_S)
+            result = self._probe_once()
+        return result
+
+    def _probe_once(self) -> ProbeResult:
         try:
             import numpy as np
             import sounddevice as sd