Address a potential issue in the PybricksHubUSB.write_gatt_char method. Previously, there was a concern that this part of the code could get stuck if the USB hub disconnected or didn't send a response.

Here's how I've addressed it:
- I've added a 5-second timeout for waiting for a response from the hub.
- I'm now also monitoring for a hub disconnection while waiting for the response.

If the hub disconnects, a `RuntimeError` will occur.
If the operation times out, an `asyncio.TimeoutError` will occur.

I've also included some checks in `tests/connections/test_pybricks.py` to ensure this new behavior works as expected in both disconnection and timeout situations.

Author: 1e0ng

pybricksdev/connections/pybricks.py

@@ -837,10 +837,17 @@ async def write_gatt_char(self, uuid: str, data, response: bool) -> None:
             raise ValueError("Response is required for USB")
 
         self._ep_out.write(bytes([PybricksUsbOutEpMessageType.COMMAND]) + data)
-        # FIXME: This needs to race with hub disconnect, and could also use a
-        # timeout, otherwise it blocks forever. Pyusb doesn't currently seem to
-        # have any disconnect callback.
-        reply = await self._response_queue.get()
+
+        try:
+            reply = await asyncio.wait_for(
+                self.race_disconnect(self._response_queue.get()),
+                timeout=5.0,  # 5-second timeout
+            )
+        except asyncio.TimeoutError:
+            # Handle timeout specifically if needed, or let race_disconnect handle it
+            # For now, let's make it explicit
+            raise asyncio.TimeoutError("Timeout waiting for USB response")
+        # race_disconnect will raise RuntimeError if disconnected
 
         # REVISIT: could look up status error code and convert to string,
         # although BLE doesn't do that either.

tests/connections/test_pybricks.py

@@ -4,18 +4,21 @@
 import contextlib
 import os
 import tempfile
-from unittest.mock import AsyncMock, PropertyMock, patch
+from unittest.mock import AsyncMock, MagicMock, PropertyMock, patch
 
 import pytest
 from reactivex.subject import Subject
 
+from pybricksdev.ble.pybricks import PYBRICKS_COMMAND_EVENT_UUID
 from pybricksdev.connections.pybricks import (
     ConnectionState,
     HubCapabilityFlag,
     HubKind,
     PybricksHubBLE,
+    PybricksHubUSB,
     StatusFlag,
 )
+from pybricksdev.usb.pybricks import PybricksUsbOutEpMessageType
 
 
 class TestPybricksHub:
@@ -180,3 +183,91 @@ async def test_run_modern_protocol(self):
             # Verify the expected calls were made
             hub.download_user_program.assert_called_once()
             hub.start_user_program.assert_called_once()
+
+
+class TestPybricksHubUSB:
+    """Tests for the PybricksHubUSB class functionality."""
+
+    @pytest.mark.asyncio
+    async def test_pybricks_hub_usb_write_gatt_char_disconnect(self):
+        """Test write_gatt_char when a disconnect event occurs."""
+        hub = PybricksHubUSB(MagicMock())
+
+        hub._ep_out = MagicMock()
+        # Simulate _response_queue.get() blocking indefinitely
+        hub._response_queue = AsyncMock()
+        hub._response_queue.get = AsyncMock(side_effect=asyncio.Event().wait)
+
+        mock_observable = MagicMock(
+            spec=Subject
+        )  # Using Subject as a base for mock spec
+        disconnect_callback_handler = None
+
+        def mock_subscribe_side_effect(on_next_callback, *args, **kwargs):
+            nonlocal disconnect_callback_handler
+            disconnect_callback_handler = on_next_callback
+            mock_subscription = MagicMock()
+            mock_subscription.dispose = MagicMock()
+            return mock_subscription
+
+        mock_observable.subscribe = MagicMock(side_effect=mock_subscribe_side_effect)
+        type(hub.connection_state_observable).value = PropertyMock(
+            return_value=ConnectionState.CONNECTED
+        )
+        hub.connection_state_observable = mock_observable
+
+        async def trigger_disconnect_event():
+            await asyncio.sleep(0.05)
+            assert (
+                disconnect_callback_handler is not None
+            ), "Subscribe was not called by race_disconnect"
+            disconnect_callback_handler(ConnectionState.DISCONNECTED)
+
+        with pytest.raises(RuntimeError, match="disconnected during operation"):
+            await asyncio.gather(
+                hub.write_gatt_char(PYBRICKS_COMMAND_EVENT_UUID, b"test_data", True),
+                trigger_disconnect_event(),
+            )
+
+        hub._ep_out.write.assert_called_once_with(
+            bytes([PybricksUsbOutEpMessageType.COMMAND]) + b"test_data"
+        )
+
+    @pytest.mark.asyncio
+    async def test_pybricks_hub_usb_write_gatt_char_timeout(self):
+        """Test write_gatt_char when a timeout occurs."""
+        hub = PybricksHubUSB(MagicMock())
+
+        hub._ep_out = MagicMock()
+        hub._response_queue = AsyncMock()
+        # Make _response_queue.get() block indefinitely
+        hub._response_queue.get = AsyncMock(side_effect=asyncio.Event().wait)
+
+        mock_observable = MagicMock(spec=Subject)
+
+        def mock_subscribe_side_effect(on_next_callback, *args, **kwargs):
+            mock_subscription = MagicMock()
+            mock_subscription.dispose = MagicMock()
+            return mock_subscription
+
+        mock_observable.subscribe = MagicMock(side_effect=mock_subscribe_side_effect)
+        type(hub.connection_state_observable).value = PropertyMock(
+            return_value=ConnectionState.CONNECTED
+        )
+        hub.connection_state_observable = mock_observable
+
+        # The method has a hardcoded timeout of 5.0s.
+        # We can patch asyncio.wait_for to speed up the test.
+        with patch(
+            "asyncio.wait_for", side_effect=asyncio.TimeoutError("Test-induced timeout")
+        ):
+            with pytest.raises(
+                asyncio.TimeoutError, match="Timeout waiting for USB response"
+            ):
+                await hub.write_gatt_char(
+                    PYBRICKS_COMMAND_EVENT_UUID, b"test_data", True
+                )
+
+        hub._ep_out.write.assert_called_once_with(
+            bytes([PybricksUsbOutEpMessageType.COMMAND]) + b"test_data"
+        )