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Stay connected to peripherals when program ends #459

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aebd5f4
pbio/drv/bluetooth: Keep peripherals connected when program ends.
laurensvalk Feb 2, 2026
da94f93
pbio/drv/bluetooth: Allow new connection if not in use.
laurensvalk Feb 2, 2026
d40ac45
pbio/drv/bluetooth: Move scan config to instance.
laurensvalk Feb 2, 2026
d94b725
pbio/sys/hmi_env_mpy: Run multiple times.
laurensvalk Feb 2, 2026
74df912
pbio/drv/bluetooth: Simplify advertising filters.
laurensvalk Feb 3, 2026
ebbd569
pybricks.iodevices.LWP3Device: Refactor connection init.
laurensvalk Feb 3, 2026
3c99e13
pybricks.iodevices.LWP3Device: Cache init arguments.
laurensvalk Feb 3, 2026
e67c56c
pybricks.iodevices.LWP3Device: Make connect optional.
laurensvalk Feb 3, 2026
74295e2
pbio/drv/bluetooth_btstack: Fix resetting timeout after scan.
laurensvalk Feb 3, 2026
bcc0224
pybricks.iodevices.XboxController: Add connect, name, and timeout.
laurensvalk Feb 3, 2026
dda7bb8
pbio/drv/bluetooth: Reuse matching connected peripheral.
laurensvalk Feb 3, 2026
98ba9d3
pbio/drv/bluetooth: Cache matching advertisements.
laurensvalk Feb 3, 2026
7ff2e5a
pybricks.iodevices.LWP3Device: Set LWP3 handle if connection skipped.
laurensvalk Feb 3, 2026
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15 changes: 15 additions & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,21 @@

## [Unreleased]

### Added
- Added `connect=True` parameter to the `Remote`, `LWP3Device`
and `XboxController` classes, along with a `connect()` method to optionally
connect later ([support#1800]).
- Added `timeout` and `name` parameters to the `XboxController`.

### Changed
- Changed the default `XboxController` connection timeout from indefinite
to 10 seconds, consistent with the `Remote`.
- Devices like the `Remote`, `LWP3Device`, and the `XboxController` now stay
connected when the program ends ([support#1382]).

[support#1382]: https://github.com/pybricks/support/issues/1382
[support#1800]: https://github.com/pybricks/support/issues/1800

## [4.0.0b5] - 2026-01-30

### Added
Expand Down
114 changes: 63 additions & 51 deletions lib/pbio/drv/bluetooth/bluetooth.c
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Original file line number Diff line number Diff line change
Expand Up @@ -166,7 +166,7 @@ pbio_error_t pbdrv_bluetooth_peripheral_get_available(pbdrv_bluetooth_peripheral
pbdrv_bluetooth_peripheral_t *peri = pbdrv_bluetooth_peripheral_get_by_index(i);

// Test if not already in use, not connected, and not busy.
if (!pbdrv_bluetooth_peripheral_is_connected(peri) && !peri->user && !peri->func) {
if (!pbdrv_bluetooth_peripheral_is_connected(peri) && !peri->func) {
// Claim this device for new user.
peri->user = user;
*peripheral = peri;
Expand All @@ -179,6 +179,37 @@ pbio_error_t pbdrv_bluetooth_peripheral_get_available(pbdrv_bluetooth_peripheral
return PBIO_ERROR_BUSY;
}

pbio_error_t pbdrv_bluetooth_peripheral_get_connected(pbdrv_bluetooth_peripheral_t **peripheral, void *user, pbdrv_bluetooth_peripheral_connect_config_t *config) {
for (uint8_t i = 0; i < PBDRV_CONFIG_BLUETOOTH_NUM_PERIPHERALS; i++) {
pbdrv_bluetooth_peripheral_t *peri = pbdrv_bluetooth_peripheral_get_by_index(i);

// Should be connected and not already in use.
if (!pbdrv_bluetooth_peripheral_is_connected(peri) || peri->user) {
continue;
}

// Callbacks must be the same, and still match with the given user.
// This ensures that we fail as intended when the same classes are used
// but the user has configured different filters such as the name.
if (peri->config.match_adv != config->match_adv ||
peri->config.match_adv_rsp != config->match_adv_rsp ||
peri->config.notification_handler != config->notification_handler ||
!peri->config.match_adv(user, peri->config.match_adv_data, peri->config.match_adv_data_len) ||
!peri->config.match_adv_rsp(user, peri->config.match_adv_rsp_data, peri->config.match_adv_rsp_data_len)) {
continue;
}

// Claim this device for new user.
peri->user = user;
*peripheral = peri;
return PBIO_SUCCESS;
}

// No more connected devices available.
*peripheral = NULL;
return PBIO_ERROR_NO_DEV;
}

void pbdrv_bluetooth_peripheral_release(pbdrv_bluetooth_peripheral_t *peripheral, void *user) {
// Only release if the user matches. A new user may have already safely
// claimed it, and this call to release may come from an orphaned user.
Expand Down Expand Up @@ -212,7 +243,7 @@ pbio_error_t pbdrv_bluetooth_peripheral_scan_and_connect(pbdrv_bluetooth_periphe
memset(peri->bdaddr, 0, sizeof(peri->bdaddr));

// Initialize operation for handling on the main thread.
peri->config = config;
peri->config = *config;
peri->func = pbdrv_bluetooth_peripheral_scan_and_connect_func;
peri->err = PBIO_ERROR_AGAIN;
peri->cancel = false;
Expand Down Expand Up @@ -550,20 +581,8 @@ pbio_error_t pbdrv_bluetooth_await_classic_task(pbio_os_state_t *state, void *co
}
#endif // PBDRV_CONFIG_BLUETOOTH_NUM_CLASSIC_CONNECTIONS

void pbdrv_bluetooth_cancel_operation_request(void) {
// Only some peripheral actions support cancellation.
DEBUG_PRINT("Bluetooth operation cancel requested.\n");
for (uint8_t i = 0; i < PBDRV_CONFIG_BLUETOOTH_NUM_PERIPHERALS; i++) {
pbdrv_bluetooth_peripheral_t *peri = pbdrv_bluetooth_peripheral_get_by_index(i);
peri->cancel = true;
}
#if PBDRV_CONFIG_BLUETOOTH_NUM_CLASSIC_CONNECTIONS
// Revisit: Cancel all.
pbdrv_bluetooth_classic_task_context.cancel = true;
#endif // PBDRV_CONFIG_BLUETOOTH_NUM_CLASSIC_CONNECTIONS
}

static bool shutting_down;
static bool pbdrv_bluetooth_shutting_down;
static pbio_os_timer_t pbdrv_bluetooth_shutting_down_watchdog;

/**
* This is the main high level pbdrv/bluetooth thread. It is driven forward by
Expand All @@ -588,6 +607,11 @@ pbio_error_t pbdrv_bluetooth_process_thread(pbio_os_state_t *state, void *contex
static uint8_t peri_index;
static pbdrv_bluetooth_peripheral_t *peri;

// Force shutdown if Bluetooth fails to deinit gracefully.
if (pbdrv_bluetooth_shutting_down && pbio_os_timer_is_expired(&pbdrv_bluetooth_shutting_down_watchdog)) {
goto shutdown;
}

PBIO_OS_ASYNC_BEGIN(state);

init:
Expand All @@ -607,7 +631,7 @@ pbio_error_t pbdrv_bluetooth_process_thread(pbio_os_state_t *state, void *contex
DEBUG_PRINT("Bluetooth is now on and initialized.\n");

// Service scheduled tasks as long as Bluetooth is enabled.
while (!shutting_down) {
while (!pbdrv_bluetooth_shutting_down) {

// In principle, this wait is only needed if there is nothing to do.
// In practice, leaving it here helps rather than hurts since it
Expand Down Expand Up @@ -668,14 +692,22 @@ pbio_error_t pbdrv_bluetooth_process_thread(pbio_os_state_t *state, void *contex

DEBUG_PRINT("Shutdown requested.\n");

// Power down the chip. This will disconnect from the host first.
// The peripheral has already been disconnected in the cleanup that runs after
// every program. If we change that behavior, we can do the disconnect here.
// Gracefully disconnect from the hosts and peripherals.
PBIO_OS_AWAIT(state, &sub, pbdrv_bluetooth_disconnect_all(&sub));

DEBUG_PRINT("Hosts and peripherals disconnected. Resetting Bluetooth controller.\n");

shutdown:

PBIO_OS_AWAIT(state, &sub, pbdrv_bluetooth_controller_reset(&sub, &timer));

pbdrv_bluetooth_shutting_down = false;
pbio_busy_count_down();

// Due to the nested logic of the Bluetooth process, this may be called
// again after completion. Re-enter here if that happens for safety, so we
// don't run the code since the last checkpoint over and over.
PBIO_OS_ASYNC_SET_CHECKPOINT(state);
PBIO_OS_ASYNC_END(PBIO_SUCCESS);
}

Expand All @@ -693,21 +725,18 @@ pbio_error_t pbdrv_bluetooth_close_user_tasks(pbio_os_state_t *state, pbio_os_ti

PBIO_OS_ASYNC_BEGIN(state);

// Requests peripheral operations to cancel, if they support it.
pbdrv_bluetooth_cancel_operation_request();

for (peri_index = 0; peri_index < PBDRV_CONFIG_BLUETOOTH_NUM_PERIPHERALS; peri_index++) {
peri = pbdrv_bluetooth_peripheral_get_by_index(peri_index);

// Await ongoing peripheral user task.
// Await ongoing peripheral user task, requesting cancellation to
// expedite this if the task supports it. Peripherals remain connected.
peri->cancel = true;
PBIO_OS_AWAIT(state, &sub, pbdrv_bluetooth_await_peripheral_command(&sub, peri));

// Disconnect peripheral.
pbdrv_bluetooth_peripheral_disconnect(peri);
PBIO_OS_AWAIT(state, &sub, pbdrv_bluetooth_await_peripheral_command(&sub, peri));
// Allow peripheral to be used again next time, even if still connected.
peri->user = NULL;
}

// Let ongoing user task finish first.
// Let ongoing user advertising or scan task finish first.
PBIO_OS_AWAIT(state, &sub, pbdrv_bluetooth_await_advertise_or_scan_command(&sub, NULL));

// Stop scanning.
Expand All @@ -718,6 +747,8 @@ pbio_error_t pbdrv_bluetooth_close_user_tasks(pbio_os_state_t *state, pbio_os_ti
pbdrv_bluetooth_start_broadcasting(NULL, 0);
PBIO_OS_AWAIT(state, &sub, pbdrv_bluetooth_await_advertise_or_scan_command(&sub, NULL));

// TODO: Close Bluetooth classic tasks.

PBIO_OS_ASYNC_END(PBIO_SUCCESS);
}

Expand All @@ -728,29 +759,10 @@ void pbdrv_bluetooth_deinit(void) {
return;
}

// 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.
bool failed_to_stop = advertising_or_scan_err == PBIO_ERROR_AGAIN;
for (uint8_t i = 0; i < PBDRV_CONFIG_BLUETOOTH_NUM_PERIPHERALS; i++) {
pbdrv_bluetooth_peripheral_t *peri = pbdrv_bluetooth_peripheral_get_by_index(i);
if (peri->err == PBIO_ERROR_AGAIN) {
failed_to_stop = true;
break;
}
}

if (failed_to_stop) {
// Hard reset without waiting on completion of any process.
DEBUG_PRINT("Bluetooth deinit: forcing hard reset due to busy tasks.\n");
pbdrv_bluetooth_controller_reset_hard();
return;
}

// Gracefully disconnect from host and power down.
// Ask Bluetooth process to proceed to shutdown.
pbio_os_timer_set(&pbdrv_bluetooth_shutting_down_watchdog, 3000);
pbdrv_bluetooth_shutting_down = true;
pbio_busy_count_up();
pbdrv_bluetooth_cancel_operation_request();
shutting_down = true;
pbio_os_request_poll();
}

Expand Down
2 changes: 1 addition & 1 deletion lib/pbio/drv/bluetooth/bluetooth.h
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Original file line number Diff line number Diff line change
Expand Up @@ -18,9 +18,9 @@
#include <stdint.h>

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);
pbio_error_t pbdrv_bluetooth_disconnect_all(pbio_os_state_t *state);

pbio_error_t pbdrv_bluetooth_start_broadcasting_func(pbio_os_state_t *state, void *context);
pbio_error_t pbdrv_bluetooth_start_advertising_func(pbio_os_state_t *state, void *context);
Expand Down
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