pbio/drv/bluetooth: Add way to forcefully exit.

lib/pbio/drv/bluetooth/bluetooth.c

@@ -559,7 +559,52 @@ pbio_error_t pbdrv_bluetooth_process_thread(pbio_os_state_t *state, void *contex
     PBIO_OS_ASYNC_END(PBIO_SUCCESS);
 }
 
+pbio_error_t pbdrv_bluetooth_close_user_tasks(pbio_os_state_t *state, pbio_os_timer_t *timer) {
+
+    static pbio_os_state_t sub;
+
+    if (pbio_os_timer_is_expired(timer)) {
+        return PBIO_ERROR_TIMEDOUT;
+    }
+
+    PBIO_OS_ASYNC_BEGIN(state);
+
+    pbdrv_bluetooth_cancel_operation_request();
+
+    // Let ongoing user tasks finish first.
+    PBIO_OS_AWAIT(state, &sub, pbdrv_bluetooth_await_peripheral_command(&sub, NULL));
+    PBIO_OS_AWAIT(state, &sub, pbdrv_bluetooth_await_advertise_or_scan_command(&sub, NULL));
+
+    // Disconnect peripheral.
+    pbdrv_bluetooth_peripheral_disconnect();
+    PBIO_OS_AWAIT(state, &sub, pbdrv_bluetooth_await_peripheral_command(&sub, NULL));
+
+    // Stop scanning.
+    pbdrv_bluetooth_start_observing(NULL);
+    PBIO_OS_AWAIT(state, &sub, pbdrv_bluetooth_await_advertise_or_scan_command(&sub, NULL));
+
+    // Stop advertising.
+    pbdrv_bluetooth_start_broadcasting(NULL, 0);
+    PBIO_OS_AWAIT(state, &sub, pbdrv_bluetooth_await_advertise_or_scan_command(&sub, NULL));
+
+    PBIO_OS_ASYNC_END(PBIO_SUCCESS);
+}
+
 void pbdrv_bluetooth_deinit(void) {
+
+    // Under normal operation ::pbdrv_bluetooth_close_user_tasks completes
+    // normally and there should be no user activity at this point. If there
+    // is, a task got stuck, so exit forcefully.
+    pbio_os_state_t unused;
+    if (pbdrv_bluetooth_await_advertise_or_scan_command(&unused, NULL) != PBIO_SUCCESS ||
+        pbdrv_bluetooth_await_peripheral_command(&unused, NULL) != PBIO_SUCCESS) {
+
+        // Hard reset without waitng on completion of any process.
+        pbdrv_bluetooth_controller_reset_hard();
+        return;
+    }
+
+    // Gracefully disconnect from host and power down.
     pbio_busy_count_up();
     pbdrv_bluetooth_cancel_operation_request();
     shutting_down = true;

lib/pbio/drv/bluetooth/bluetooth.h

@@ -24,6 +24,7 @@
 #define PBDRV_BLUETOOTH_MAX_ADV_SIZE 31
 
 void pbdrv_bluetooth_init_hci(void);
+void pbdrv_bluetooth_controller_reset_hard(void);
 pbio_error_t pbdrv_bluetooth_controller_reset(pbio_os_state_t *state, pbio_os_timer_t *timer);
 pbio_error_t pbdrv_bluetooth_controller_initialize(pbio_os_state_t *state, pbio_os_timer_t *timer);
 

lib/pbio/drv/bluetooth/bluetooth_btstack.c

@@ -848,6 +848,10 @@ const char *pbdrv_bluetooth_get_fw_version(void) {
     return "v1.4";
 }
 
+void pbdrv_bluetooth_controller_reset_hard(void) {
+    hci_power_control(HCI_POWER_OFF);
+}
+
 pbio_error_t pbdrv_bluetooth_controller_reset(pbio_os_state_t *state, pbio_os_timer_t *timer) {
 
     // The event handler also pushes the bluetooth process along, but shouldn't
@@ -864,7 +868,7 @@ pbio_error_t pbdrv_bluetooth_controller_reset(pbio_os_state_t *state, pbio_os_ti
         PBIO_OS_AWAIT_UNTIL(state, le_con_handle == HCI_CON_HANDLE_INVALID);
     }
 
-    hci_power_control(HCI_POWER_OFF);
+    pbdrv_bluetooth_controller_reset_hard();
     PBIO_OS_AWAIT_UNTIL(state, hci_get_state() == HCI_STATE_OFF);
 
     PBIO_OS_ASYNC_END(PBIO_SUCCESS);

lib/pbio/drv/bluetooth/bluetooth_stm32_bluenrg.c

@@ -1237,6 +1237,13 @@ static pbio_error_t init_uart_service(pbio_os_state_t *state, void *context) {
     PBIO_OS_ASYNC_END(PBIO_SUCCESS);
 }
 
+void pbdrv_bluetooth_controller_reset_hard(void) {
+    pybricks_notify_en = uart_tx_notify_en = false;
+    conn_handle = peripheral_singleton.con_handle = 0;
+    spi_disable_cs();
+    bluetooth_reset(true);
+}
+
 pbio_error_t pbdrv_bluetooth_controller_reset(pbio_os_state_t *state, pbio_os_timer_t *timer) {
     PBIO_OS_ASYNC_BEGIN(state);
 
@@ -1249,11 +1256,8 @@ pbio_error_t pbdrv_bluetooth_controller_reset(pbio_os_state_t *state, pbio_os_ti
         PBIO_OS_AWAIT_UNTIL(state, conn_handle == 0);
     }
 
-    pybricks_notify_en = uart_tx_notify_en = false;
-    conn_handle = peripheral_singleton.con_handle = 0;
+    pbdrv_bluetooth_controller_reset_hard();
 
-    spi_disable_cs();
-    bluetooth_reset(true);
     PBIO_OS_AWAIT_MS(state, timer, 50);
 
     PBIO_OS_ASYNC_END(PBIO_SUCCESS);

lib/pbio/drv/bluetooth/bluetooth_stm32_cc2640.c

@@ -1837,6 +1837,14 @@ static pbio_error_t init_uart_service(pbio_os_state_t *state, void *context) {
     PBIO_OS_ASYNC_END(PBIO_SUCCESS);
 }
 
+void pbdrv_bluetooth_controller_reset_hard(void) {
+    pybricks_notify_en = uart_tx_notify_en = false;
+    conn_handle = peripheral_singleton.con_handle = NO_CONNECTION;
+
+    spi_set_mrdy(false);
+    bluetooth_reset(RESET_STATE_OUT_LOW);
+}
+
 pbio_error_t pbdrv_bluetooth_controller_reset(pbio_os_state_t *state, pbio_os_timer_t *timer) {
     PBIO_OS_ASYNC_BEGIN(state);
 
@@ -1847,11 +1855,8 @@ pbio_error_t pbdrv_bluetooth_controller_reset(pbio_os_state_t *state, pbio_os_ti
         PBIO_OS_AWAIT_UNTIL(state, conn_handle == NO_CONNECTION);
     }
 
-    pybricks_notify_en = uart_tx_notify_en = false;
-    conn_handle = peripheral_singleton.con_handle = NO_CONNECTION;
+    pbdrv_bluetooth_controller_reset_hard();
 
-    spi_set_mrdy(false);
-    bluetooth_reset(RESET_STATE_OUT_LOW);
     PBIO_OS_AWAIT_MS(state, timer, 150);
 
     PBIO_OS_ASYNC_END(PBIO_SUCCESS);

lib/pbio/include/pbdrv/bluetooth.h

@@ -503,6 +503,19 @@ void pbdrv_bluetooth_restart_observing_request(void);
  */
 pbio_error_t pbdrv_bluetooth_await_advertise_or_scan_command(pbio_os_state_t *state, void *context);
 
+/**
+ * Awaits user activity to complete, usually called during cleanup after running
+ * a user program. This will disconnect from the peripheral and stop scanning
+ * and advertising.
+ *
+ * @param [in]  state          Protothread state.
+ * @param [in]  timer          Timer used to give up if this takes too long.
+ * @return                     ::PBIO_SUCCESS on completion.
+ *                             ::PBIO_ERROR_AGAIN while awaiting.
+ *                             ::PBIO_ERROR_TIMEDOUT if the timer expired.
+ */
+pbio_error_t pbdrv_bluetooth_close_user_tasks(pbio_os_state_t *state, pbio_os_timer_t *timer);
+
 #else // PBDRV_CONFIG_BLUETOOTH
 
 static inline void pbdrv_bluetooth_init(void) {
@@ -602,6 +615,11 @@ static inline pbio_error_t pbdrv_bluetooth_await_advertise_or_scan_command(pbio_
     return PBIO_ERROR_NOT_SUPPORTED;
 }
 
+static inline pbio_error_t pbdrv_bluetooth_close_user_tasks(pbio_os_state_t *state, pbio_os_timer_t *timer) {
+    return PBIO_ERROR_NOT_SUPPORTED;
+}
+
+
 #endif // PBDRV_CONFIG_BLUETOOTH
 
 #endif // _PBDRV_BLUETOOTH_H_

lib/pbio/include/pbio/main.h

@@ -8,9 +8,11 @@
 
 #include "pbio/config.h"
 
+#include <pbio/error.h>
+
 void pbio_init(bool start_processes);
 void pbio_deinit(void);
-void pbio_main_stop_application_resources();
+pbio_error_t pbio_main_stop_application_resources(void);
 void pbio_main_soft_stop(void);
 
 #endif // _PBIO_MAIN_H_

lib/pbio/src/main.c

@@ -69,37 +69,28 @@ void pbio_main_soft_stop(void) {
     pbdrv_bluetooth_cancel_operation_request();
 }
 
-static void wait_for_bluetooth(void) {
-    pbio_os_state_t unused;
-    while (pbdrv_bluetooth_await_advertise_or_scan_command(&unused, NULL) == PBIO_ERROR_AGAIN ||
-           pbdrv_bluetooth_await_peripheral_command(&unused, NULL) == PBIO_ERROR_AGAIN) {
-
-        // Run event loop until Bluetooth is idle.
-        pbio_os_run_processes_and_wait_for_event();
-    }
-}
-
 /**
  * Stops all application-level background processes. Called when the user
  * application completes to get these modules back into their default state.
  * Drivers and OS-level processes continue running.
+ *
+ * @return   ::PBIO_SUCCESS when completed
+ *           ::PBIO_ERROR_TIMEDOUT if it could not stop processes in a reasonable
+ *             amount of time.
  */
-void pbio_main_stop_application_resources() {
+pbio_error_t pbio_main_stop_application_resources(void) {
 
     pbio_main_soft_stop();
 
-    // Let ongoing task finish first.
-    wait_for_bluetooth();
+    pbio_error_t err;
+    pbio_os_state_t state = 0;
+    pbio_os_timer_t timer;
+    pbio_os_timer_set(&timer, 5000);
 
-    // Stop broadcasting, observing and disconnect peripheral.
-    pbdrv_bluetooth_start_broadcasting(NULL, 0);
-    wait_for_bluetooth();
-
-    pbdrv_bluetooth_start_observing(NULL);
-    wait_for_bluetooth();
-
-    pbdrv_bluetooth_peripheral_disconnect();
-    wait_for_bluetooth();
+    // Run event loop until Bluetooth is idle or times out.
+    while ((err = pbdrv_bluetooth_close_user_tasks(&state, &timer)) == PBIO_ERROR_AGAIN) {
+        pbio_os_run_processes_and_wait_for_event();
+    }
 
     #if PBIO_CONFIG_LIGHT
     pbio_light_animation_stop_all();
@@ -109,6 +100,10 @@ void pbio_main_stop_application_resources() {
     pbio_image_fill(pbdrv_display_get_image(), 0);
     pbdrv_display_update();
     #endif
+
+    pbio_os_run_processes_and_wait_for_event();
+
+    return err;
 }
 
 /** @} */

lib/pbio/sys/main.c

@@ -114,7 +114,12 @@ int main(int argc, char **argv) {
         pbsys_main_run_program(&program);
 
         // Stop motors, user animations, user bluetooth activity, etc.
-        pbio_main_stop_application_resources();
+        err = pbio_main_stop_application_resources();
+        if (err != PBIO_SUCCESS) {
+            // If we couldn't get the system back in a normal state, proceed
+            // towards shutdown.
+            break;
+        }
 
         // Get system back in idle state.
         pbsys_status_clear(PBIO_PYBRICKS_STATUS_USER_PROGRAM_RUNNING);