pybricks.iodevices.lwp3device: Add disconnect method.

Fixes pybricks/support#802

Author: laurensvalk

CHANGELOG.md

@@ -7,6 +7,8 @@
 ### Added
 - Added optional keyword arguments to `pybricks.tools.read_input_byte()` for
   automatic conversion via `chr` and to skip to the last byte ([support#1574]).
+- Added `disconnect` method to `pybricks.pupdevices.Remote` and
+  `pybricks.iodevices.LWP3Device` ([support#802]).
 
 ### Changed
 - Raise a descriptive error when the `Car` class can't find a steering mechanism
@@ -15,6 +17,7 @@
 ### Fixed
 - Fixed hubs not shutting down when holding hub button ([support#1419]).
 
+[support#802]: https://github.com/pybricks/support/issues/802
 [support#1419]: https://github.com/pybricks/support/issues/1419
 [support#1564]: https://github.com/pybricks/support/issues/1564
 [support#1574]: https://github.com/pybricks/support/issues/1574

pybricks/iodevices/pb_type_iodevices_lwp3device.c

@@ -433,13 +433,22 @@ STATIC mp_obj_t pb_lwp3device_name(size_t n_args, const mp_obj_t *args) {
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pb_lwp3device_name_obj, 1, 2, pb_lwp3device_name);
 
+STATIC mp_obj_t pb_lwp3device_disconnect(mp_obj_t self_in) {
+    pb_lwp3device_t *lwp3device = &pb_lwp3device_singleton;
+    pb_lwp3device_assert_connected();
+    pbdrv_bluetooth_peripheral_disconnect(&lwp3device->task);
+    return pb_module_tools_pbio_task_wait_or_await(&lwp3device->task);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(pb_lwp3device_disconnect_obj, pb_lwp3device_disconnect);
+
 STATIC const pb_attr_dict_entry_t pb_type_pupdevices_Remote_attr_dict[] = {
     PB_DEFINE_CONST_ATTR_RO(MP_QSTR_buttons, pb_type_pupdevices_Remote_obj_t, buttons),
     PB_DEFINE_CONST_ATTR_RO(MP_QSTR_light, pb_type_pupdevices_Remote_obj_t, light),
     PB_ATTR_DICT_SENTINEL
 };
 
 STATIC const mp_rom_map_elem_t pb_type_pupdevices_Remote_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_disconnect), MP_ROM_PTR(&pb_lwp3device_disconnect_obj) },
     { MP_ROM_QSTR(MP_QSTR_name), MP_ROM_PTR(&pb_lwp3device_name_obj) },
 };
 STATIC MP_DEFINE_CONST_DICT(pb_type_pupdevices_Remote_locals_dict, pb_type_pupdevices_Remote_locals_dict_table);
@@ -525,6 +534,7 @@ STATIC mp_obj_t lwp3device_read(mp_obj_t self_in) {
 STATIC MP_DEFINE_CONST_FUN_OBJ_1(lwp3device_read_obj, lwp3device_read);
 
 STATIC const mp_rom_map_elem_t pb_type_iodevices_LWP3Device_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_disconnect), MP_ROM_PTR(&pb_lwp3device_disconnect_obj) },
     { MP_ROM_QSTR(MP_QSTR_name), MP_ROM_PTR(&pb_lwp3device_name_obj) },
     { MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&lwp3device_write_obj) },
     { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&lwp3device_read_obj) },