pbio/drv/bluetooth: Finish implementing remote disconnect.

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.

Author: laurensvalk

lib/pbio/drv/bluetooth/bluetooth_btstack.c

@@ -954,11 +954,22 @@ void pbdrv_bluetooth_peripheral_write(pbio_task_t *task, pbdrv_bluetooth_value_t
     start_task(task, peripheral_write_task, value);
 }
 
-void pbdrv_bluetooth_peripheral_disconnect(void) {
+static PT_THREAD(peripheral_disconnect_task(struct pt *pt, pbio_task_t *task)) {
+    PT_BEGIN(pt);
+
     pbdrv_bluetooth_peripheral_t *peri = &peripheral_singleton;
     if (peri->con_handle != HCI_CON_HANDLE_INVALID) {
         gap_disconnect(peri->con_handle);
     }
+
+    PT_WAIT_UNTIL(pt, peri->con_handle == HCI_CON_HANDLE_INVALID);
+
+    task->status = PBIO_SUCCESS;
+    PT_END(pt);
+}
+
+void pbdrv_bluetooth_peripheral_disconnect(pbio_task_t *task) {
+    start_task(task, peripheral_disconnect_task, NULL);
 }
 
 static PT_THREAD(start_broadcasting_task(struct pt *pt, pbio_task_t *task)) {

lib/pbio/drv/bluetooth/bluetooth_stm32_bluenrg.c

@@ -723,9 +723,8 @@ static PT_THREAD(peripheral_disconnect_task(struct pt *pt, pbio_task_t *task)) {
     PT_END(pt);
 }
 
-void pbdrv_bluetooth_peripheral_disconnect(void) {
-    static pbio_task_t task;
-    start_task(&task, peripheral_disconnect_task, NULL);
+void pbdrv_bluetooth_peripheral_disconnect(pbio_task_t *task) {
+    start_task(task, peripheral_disconnect_task, NULL);
 }
 
 static PT_THREAD(broadcast_task(struct pt *pt, pbio_task_t *task)) {

lib/pbio/drv/bluetooth/bluetooth_stm32_cc2640.c

@@ -1052,16 +1052,16 @@ static PT_THREAD(peripheral_disconnect_task(struct pt *pt, pbio_task_t *task)) {
         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);
     }
 
     task->status = PBIO_SUCCESS;
 
     PT_END(pt);
 }
 
-void pbdrv_bluetooth_peripheral_disconnect(void) {
-    static pbio_task_t task;
-    start_task(&task, peripheral_disconnect_task, NULL);
+void pbdrv_bluetooth_peripheral_disconnect(pbio_task_t *task) {
+    start_task(task, peripheral_disconnect_task, NULL);
 }
 
 static PT_THREAD(broadcast_task(struct pt *pt, pbio_task_t *task)) {

lib/pbio/include/pbdrv/bluetooth.h

@@ -331,7 +331,7 @@ void pbdrv_bluetooth_periperal_read_characteristic(pbio_task_t *task, pbdrv_blue
 // TODO: make this a generic write without response function
 void pbdrv_bluetooth_peripheral_write(pbio_task_t *task, pbdrv_bluetooth_value_t *value);
 // TODO: make this a generic disconnect
-void pbdrv_bluetooth_peripheral_disconnect(void);
+void pbdrv_bluetooth_peripheral_disconnect(pbio_task_t *task);
 
 /**
  * Starts broadcasting undirected, non-connectable, non-scannable advertisement
@@ -430,7 +430,7 @@ static inline void pbdrv_bluetooth_peripheral_write(pbio_task_t *task, pbdrv_blu
     task->status = PBIO_ERROR_NOT_SUPPORTED;
 }
 
-static inline void pbdrv_bluetooth_peripheral_disconnect(void) {
+static inline void pbdrv_bluetooth_peripheral_disconnect(pbio_task_t *task) {
 }
 
 static inline void pbdrv_bluetooth_start_broadcasting(pbio_task_t *task, pbdrv_bluetooth_value_t *value) {

pybricks/iodevices/pb_type_iodevices_lwp3device.c

@@ -315,15 +315,17 @@ STATIC void pb_lwp3device_configure_remote(void) {
         nlr_pop();
     } else {
         // disconnect if any setup task failed
-        pbdrv_bluetooth_peripheral_disconnect();
+        pbdrv_bluetooth_peripheral_disconnect(&remote->task);
+        pb_module_tools_pbio_task_do_blocking(&remote->task, -1);
         nlr_jump(nlr.ret_val);
     }
 }
 
 void pb_type_Remote_cleanup(void) {
-    pbdrv_bluetooth_peripheral_disconnect();
+    static pbio_task_t disconnect_task;
+    pbdrv_bluetooth_peripheral_disconnect(&disconnect_task);
 
-    while (pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_PERIPHERAL)) {
+    while (disconnect_task.status == PBIO_ERROR_AGAIN) {
         MICROPY_EVENT_POLL_HOOK
     }
 }