Unify three bluetooth de-init tasks and allow exit on shutdown request #245
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laurensvalk
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Also added I called it |
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| @@ -1051,17 +1061,16 @@ static PT_THREAD(peripheral_disconnect_task(struct pt *pt, pbio_task_t *task)) { | |||
| if (peri->con_handle != NO_CONNECTION) { | |||
| PT_WAIT_WHILE(pt, write_xfer_size); | |||
| GAP_TerminateLinkReq(peri->con_handle, 0x13); | |||
| PT_WAIT_UNTIL(pt, hci_command_status); | |||
| PT_WAIT_UNTIL(pt, peri->con_handle == NO_CONNECTION); | |||
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I would keep the waiting for command status. The disconnect could happen for a different reason other than the request made here, so the program flow would continue while the command is still being processed on the BT chip.
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So (in nominal conditions) are we guaranteed to get two events and always in that order?
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yes. and even if the disconnect event happens first due to non-nominal conditions peri->con_handle == NO_CONNECTION is still going to be true after the status event.
pybricks/pybricks.c
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| #endif // PYBRICKS_PY_PUPDEVICES | ||
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| #if PYBRICKS_PY_COMMON_BLE && PYBRICKS_PY_PUPDEVICES |
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Thanks. I'll probably just have to be specific and add PYBRICKS_PY_PUPDEVICES_REMOTE to account for the virtualhub which has pupdevices but no remote, and then we can use ||.
This was started as a task on some platforms, and waiting for completion was handled differently for each platform. This uses a task so we can cleanly finalize this task along with broadcasting clean up in the following commits. Now we could also implement an awaitable disconnect method on the Remote.
While MicroPython has a vm abort, several pbio tasks are started after this. If they get stuck, the hub cannot shut down. This completes the unification of the de-init tasks and adds a break for a shutdown request.
The virtualhub has pupdevices but no Bluetooth.
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We have previously implemented the MicroPython VM abort to exit MicroPython under all circumstances, but we have recently added a few pbio tasks that were started after this, and they are not cancellable. This prevents shutdown.
This unifies awaiting on the deinitialization of the bluetooth peripheral, bluetooth broadcasting/observing and bluetooth stdout.
It also adds a break for a shutdown request so the hub can shut down even if a pbio task is stuck (e.g. pybricks/support#1419).
This also finishes implementing the remote disconnect task, which on some platforms was only started but not awaited inside the task. This could be used for a dedicated awaitable remote disconnect method in a future release, which has been requested several times.
This is largely untested, which is a work in progress.