Improve Bluetooth de-initialization #389
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Other than safely freeing allocated memory, application code shouldn't have to worry about deinitializing the Bluetooth driver, so move it towards the pbio layer. Disconnecting from peripherals at the end is not unlike stopping motors etc.
Finish an old todo about using finalizers to clean up observe data and lwp3 notification buffer.
There may be more than one in general, so pass relevant reference.
For technical and historical reasons, these classes were a bit of a mess, with various different singletons and object types that were almost but not quite working like MicroPython objects. On top of this, the object types were partially shared between the Remote and LWP3Device class. This refactors the module to use real MicroPython objects with the normal self_in convention wherever we can. We can make a reference to the global instance so that the driver callbacks know where to put the data, and use the finalizer to unset it for safety. Then we don't need separate logic for the LWP3Device notification buffer either, which is just allocated as part of the object. Now that each method has a self reference, we can relatively easily upgrade this code to use more than one peripheral in the future.
Before the Bluetooth overhaul, we were just powering down. In the recent commits, this was not yet implemented, so the hub would stay connected or keep advertising once turned off and charging. Poweroff is now back, but we also gracefully disconnect first to be nice to Pybricks Code.
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pbio/main: Wait for Bluetooth end at pbio.
Other than safely freeing allocated memory, application code shouldn't have to
worry about deinitializing the Bluetooth driver, so move it towards the pbio
layer. Disconnecting from peripherals at the end is not unlike stopping motors etc
pybricks.pupdevices.lwp3device: Use finalizers.
pybricks.common: Pass parent object to keypad and light.
pybricks.pupdevices.Remote: Clean up self references.
For technical and historical reasons, the
RemoteandLWP3Deviceclasses were a bit of a mess, with various different singletons and object types that were almost but not quite working like MicroPython objects. On top of this, the object types were partially shared between the Remote and LWP3Device class. We were using static buffers in various places to deal with scheduledpbio/tasks, which we no longer need to do.This refactors the module to use real MicroPython objects with the normal self_in convention wherever we can. We can make a reference to the global instance so that the driver callbacks know where to put the data, and use the finalizer to unset it for safety. Then we don't need separate logic for the LWP3Device notification buffer either, which is just allocated as part of the object.
Now that each method has a self reference, we can relatively easily upgrade this code to use more than one peripheral in the future.
Implement poweroff
The Bluetooth chip is now powered off on shutdown. This was a remaining task in #388.