micropython: Stop de-init on forced shutdown.

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.

Author: laurensvalk

CHANGELOG.md

@@ -12,6 +12,10 @@
 - Raise a descriptive error when the `Car` class can't find a steering mechanism
   end stop within 10 seconds ([support#1564]).
 
+### Fixed
+- Fixed hubs not shutting down when holding hub button ([support#1419]).
+
+[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
 

bricks/_common/micropython.c

@@ -331,10 +331,8 @@ void pbsys_main_run_program(pbsys_main_program_t *program) {
     }
     #endif // PYBRICKS_OPT_COMPILER
 
-    // Ensure all buffered output has been sent over the air.
-    mp_hal_stdout_tx_flush();
-
-    // Clean up non-MicroPython resources used by the pybricks package.
+    // De-init bluetooth resources (including flushing stdout) that may use
+    // memory allocated by MicroPython before we wipe it.
     pb_package_pybricks_deinit();
 
     gc_sweep_all();

pybricks/pybricks.c

@@ -12,6 +12,8 @@
 
 #include <pbdrv/bluetooth.h>
 #include <pbio/version.h>
+#include <pbsys/bluetooth.h>
+#include <pbsys/status.h>
 
 #include <pybricks/common.h>
 #include <pybricks/hubs.h>
@@ -146,8 +148,13 @@ void pb_package_pybricks_deinit(void) {
     // tasks and deinit tasks have completed.
     static pbio_task_t noop_task;
     pbdrv_bluetooth_queue_noop(&noop_task);
-    while (noop_task.status == PBIO_ERROR_AGAIN) {
+    while (noop_task.status == PBIO_ERROR_AGAIN || !pbsys_bluetooth_tx_is_idle()) {
         MICROPY_VM_HOOK_LOOP
+
+        // Stop waiting (and potentially blocking) in case of forced shutdown.
+        if (pbsys_status_test(PBIO_PYBRICKS_STATUS_SHUTDOWN_REQUEST)) {
+            break;
+        }
     }
     #endif
 }