Local/ble gatt object references fix by vicocz · Pull Request #212 · vicocz/brickcontroller2

vicocz · 2026-03-17T22:51:05Z

No description provided.

Copilot

Pull request overview

This PR hardens BLE reconnection behavior (especially on Android) by ensuring cached GATT/service/characteristic references are cleared during disconnect and by reducing reliance on stale Android BluetoothGatt state across reconnects. It also refines LEGO Control+/TechnicMove handling by making port index mapping safer and by adding a feedback-driven completion path for PLAYVM calibration.

Changes:

Introduces a OnDeviceDisconnecting() hook on BluetoothDevice and implements it across device types to clear cached characteristic references before native disconnect/cleanup.
Adds an Android BLE “refresh service cache” reflection call during GATT disconnect/close to mitigate stale service/characteristic caching between reconnects.
Updates ControlPlus/TechnicMove logic: safer port-id-to-channel mapping, a dedicated output-feedback callback hook, and a PLAYVM calibration wait based on hub feedback (with timeout fallback).

Reviewed changes

Copilot reviewed 14 out of 14 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
BrickController2/BrickController2/DeviceManagement/Wedo2Device.cs	Clears cached characteristic references on disconnect to avoid stale native objects after reconnect.
BrickController2/BrickController2/DeviceManagement/Vengit/SBrickLightDevice.cs	Clears cached characteristic references on disconnect.
BrickController2/BrickController2/DeviceManagement/TechnicMoveDevice.cs	Filters unsupported configurations, adds feedback-based PLAYVM calibration wait, and updates port/channel mapping for non-index port IDs.
BrickController2/BrickController2/DeviceManagement/SBrickDevice.cs	Clears cached characteristic references on disconnect.
BrickController2/BrickController2/DeviceManagement/PfxBrickDevice.cs	Clears cached characteristic references on disconnect.
BrickController2/BrickController2/DeviceManagement/MouldKing/MK_DIY.cs	Clears cached characteristic reference on disconnect.
BrickController2/BrickController2/DeviceManagement/Lego/RemoteControl.cs	Clears cached characteristic reference on disconnect.
BrickController2/BrickController2/DeviceManagement/ControlPlusDevice.cs	Adds disconnect cleanup, safe port-id mapping via `TryGetChannelIndex`, feedback hook for message `0x82`, and debug-only logging.
BrickController2/BrickController2/DeviceManagement/CircuitCubeDevice.cs	Clears cached characteristic references on disconnect.
BrickController2/BrickController2/DeviceManagement/BuwizzDevice.cs	Clears cached characteristic reference on disconnect.
BrickController2/BrickController2/DeviceManagement/BuWizz3Device.cs	Clears cached characteristic references on disconnect.
BrickController2/BrickController2/DeviceManagement/BuWizz2Device.cs	Clears cached characteristic references on disconnect.
BrickController2/BrickController2/DeviceManagement/BluetoothDevice.cs	Adds abstract `OnDeviceDisconnecting()` and invokes it as part of the disconnect sequence; makes disconnect callback invocation more robust.
BrickController2/BrickController2.Android/PlatformServices/BluetoothLE/BluetoothLEDevice.cs	Adds reflective `BluetoothGatt.refresh()` call before close/dispose to reduce stale service caching across reconnects.

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BrickController2/BrickController2/DeviceManagement/TechnicMoveDevice.cs

Copilot

Pull request overview

This PR hardens Bluetooth LE reconnection behavior by introducing a disconnect hook to clear cached GATT characteristic references (avoiding stale native Android objects), and adds an Android-specific GATT service-cache refresh on disconnect. It also improves Control+ port-to-channel mapping safety and enhances Technic Move PLAYVM calibration handling.

Changes:

Add OnDeviceDisconnecting() lifecycle hook to clear cached IGattCharacteristic references across BLE devices before native disconnect.
Add Android BluetoothGatt.refresh() (reflection) on disconnect to reduce stale service caching between reconnects.
Improve Control+ message parsing with TryGetChannelIndex(...) and update Technic Move PLAYVM calibration to wait for hub feedback (with timeout fallback).

Reviewed changes

Copilot reviewed 14 out of 14 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
BrickController2/BrickController2/DeviceManagement/BluetoothDevice.cs	Adds `OnDeviceDisconnecting()` hook and ensures callback handling is safe during disconnect.
BrickController2/BrickController2/DeviceManagement/ControlPlusDevice.cs	Switches to `TryGetChannelIndex` to avoid invalid indexing and adds a disconnect cleanup for cached characteristic.
BrickController2/BrickController2/DeviceManagement/TechnicMoveDevice.cs	Filters unsupported channel configs, improves init suppression for LED/PLAYVM, and waits for PLAYVM calibration feedback instead of fixed delays.
BrickController2/BrickController2/DeviceManagement/Wedo2Device.cs	Clears cached characteristics on disconnect.
BrickController2/BrickController2/DeviceManagement/SBrickDevice.cs	Clears cached characteristics on disconnect.
BrickController2/BrickController2/DeviceManagement/Vengit/SBrickLightDevice.cs	Clears cached characteristics on disconnect.
BrickController2/BrickController2/DeviceManagement/PfxBrickDevice.cs	Clears cached characteristics on disconnect.
BrickController2/BrickController2/DeviceManagement/MouldKing/MK_DIY.cs	Clears cached characteristic on disconnect.
BrickController2/BrickController2/DeviceManagement/Lego/RemoteControl.cs	Clears cached characteristic on disconnect.
BrickController2/BrickController2/DeviceManagement/CircuitCubeDevice.cs	Clears cached characteristics on disconnect.
BrickController2/BrickController2/DeviceManagement/BuwizzDevice.cs	Clears cached characteristic on disconnect.
BrickController2/BrickController2/DeviceManagement/BuWizz2Device.cs	Clears cached characteristics on disconnect.
BrickController2/BrickController2/DeviceManagement/BuWizz3Device.cs	Clears cached characteristics on disconnect.
BrickController2/BrickController2.Android/PlatformServices/BluetoothLE/BluetoothLEDevice.cs	Adds reflected `BluetoothGatt.refresh()` before closing GATT to mitigate stale service cache on Android.

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Copilot

Pull request overview

This PR aims to prevent stale Android BLE GATT object reuse across reconnects by explicitly clearing cached characteristic references on disconnect, while also refactoring LEGO Control+ BLE device handling into a shared base and updating Technic Move output processing.

Changes:

Add a disconnect hook (OnDeviceDisconnecting) to clear cached IGattCharacteristic references across multiple BLE device implementations.
Introduce ControlPlusDeviceBase to centralize LEGO Wireless Protocol characteristic discovery, notifications, and hub property requests; update ControlPlusDevice and LEGO Remote Control to use it.
Extend OutputValuesGroup (rename Commmit→Commit, add Initialize(int) and Clear()) and refactor Technic Move output sending (including PLAYVM support).

Reviewed changes

Copilot reviewed 19 out of 19 changed files in this pull request and generated 7 comments.

Show a summary per file

File	Description
BrickController2/BrickController2/Protocols/LegoWirelessProtocol.cs	Adds `ToByte(Half)` conversion helper used by new Half-based output tracking.
BrickController2/BrickController2/DeviceManagement/Wedo2Device.cs	Clears cached characteristics on disconnect via new hook.
BrickController2/BrickController2/DeviceManagement/Vengit/SBrickLightDevice.cs	Clears cached characteristics on disconnect; fixes `Commit()` typo usage.
BrickController2/BrickController2/DeviceManagement/TechnicMoveDevice.cs	Major refactor: PLAYVM output grouping and send loop, light handling, servo reset/calibration flow.
BrickController2/BrickController2/DeviceManagement/SBrickDevice.cs	Clears cached characteristics on disconnect.
BrickController2/BrickController2/DeviceManagement/PfxBrickDevice.cs	Clears cached characteristics on disconnect; fixes `Commit()` typo usage.
BrickController2/BrickController2/DeviceManagement/MouldKing/MK_DIY.cs	Clears cached characteristic on disconnect.
BrickController2/BrickController2/DeviceManagement/Lego/RemoteControl.cs	Moves Remote Control onto shared Control+ base; routes hub property requests through base helpers.
BrickController2/BrickController2/DeviceManagement/Lego/ControlPlusDeviceBase.cs	New shared base for LEGO Control+ devices: service validation, notification parsing, hub property requests.
BrickController2/BrickController2/DeviceManagement/IO/OutputValuesGroup.cs	Adds `Initialize(int)` + `Clear()`, renames `Commmit()`→`Commit()`, fixes comment typo.
BrickController2/BrickController2/DeviceManagement/Device.cs	`CheckChannel` now returns the validated channel index.
BrickController2/BrickController2/DeviceManagement/ControlPlusDevice.cs	Refactors to inherit from `ControlPlusDeviceBase`; renames `ResetSendAttempts`; uses shared write helpers.
BrickController2/BrickController2/DeviceManagement/CircuitCubeDevice.cs	Clears cached characteristics on disconnect.
BrickController2/BrickController2/DeviceManagement/BuwizzDevice.cs	Clears cached characteristic on disconnect.
BrickController2/BrickController2/DeviceManagement/BuWizz3Device.cs	Clears cached characteristics on disconnect.
BrickController2/BrickController2/DeviceManagement/BuWizz2Device.cs	Clears cached characteristics on disconnect.
BrickController2/BrickController2/DeviceManagement/BluetoothDevice.cs	Adds `OnDeviceDisconnecting()` hook and improves disconnect callback handling.
BrickController2/BrickController2.Tests/DeviceManagement/IO/OutputValuesGroupTests.cs	Updates test to use renamed `Commit()`.
BrickController2/BrickController2.Android/PlatformServices/BluetoothLE/BluetoothLEDevice.cs	Refreshes Android GATT service cache (reflection) before close/dispose on disconnect.

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Copilot · 2026-03-21T15:58:01Z

BrickController2/BrickController2/DeviceManagement/Lego/ControlPlusDeviceBase.cs

+                        var absPosition = ToInt32(data, dataIndex);
+                        _absolutePositions[channel] = absPosition;
+
+                        dataIndex += 2;


In case 0x46 (combined mode), ABS position is read with ToInt32(data, dataIndex) but dataIndex is only advanced by 2. This mismatch can corrupt parsing and can read past the end of the payload. Use ToInt16 + += 2 or ToInt32 + += 4 (with length checks), depending on the expected protocol format.

Suggested change

var absPosition = ToInt32(data, dataIndex);

_absolutePositions[channel] = absPosition;

dataIndex += 2;

if ((dataIndex + 1) < data.Length)

{

var absPosition = ToInt16(data, dataIndex);

_absolutePositions[channel] = absPosition;

dataIndex += 2;

}

else

{

// Not enough data to read ABS position safely; skip parsing it.

}

BrickController2/BrickController2/DeviceManagement/TechnicMoveDevice.cs

BrickController2/BrickController2/DeviceManagement/IO/OutputValuesGroup.cs

BrickController2/BrickController2/DeviceManagement/TechnicMoveDevice.cs

BrickController2/BrickController2/DeviceManagement/IO/OutputValuesGroup.cs

BrickController2/BrickController2/Protocols/LegoWirelessProtocol.cs

Copilot · 2026-03-21T15:58:03Z

BrickController2/BrickController2/DeviceManagement/Lego/ControlPlusDeviceBase.cs

+            case 0x45: // Port value (single mode)
+                lock (_positionLock)
+                {
+                    if (data.Length == 6)
+                    {


This class uses _positionLock/_absolutePositions/_relativePositions/_positionsUpdated/_positionUpdateTimes, but those members are not declared in ControlPlusDeviceBase (or its base classes). As written this won’t compile; move the position state into ControlPlusDeviceBase (and expose it to derived types) or delegate the storage logic to derived classes via virtual/abstract methods.

Copilot

Pull request overview

Copilot reviewed 19 out of 19 changed files in this pull request and generated 8 comments.

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Copilot · 2026-03-22T12:06:31Z

BrickController2/BrickController2/DeviceManagement/TechnicMoveDevice.cs

+                await SendPortOutput_HubLedAsync(HUB_LED_COLOR_LIGHT_BLUE, token);
+
+                // wait for initialization to complete before sending any commands
+                await WaitForInitializationAsync(token);


WaitForInitializationAsync(token) returns a boolean indicating whether initialization completed before timeout, but the return value is currently ignored. If initialization times out, subsequent writes (lights off / PLAYVM setup) may run before ports are ready; consider checking the result and either retrying or aborting setup with a clear failure path.

Suggested change

await WaitForInitializationAsync(token);

var initialized = await WaitForInitializationAsync(token);

if (!initialized)

{

return false;

}

BrickController2/BrickController2/DeviceManagement/TechnicMoveDevice.cs

Copilot · 2026-03-22T12:06:32Z

BrickController2/BrickController2/DeviceManagement/Lego/ControlPlusDeviceBase.cs

+    /// </summary>
+    protected async Task<bool> WaitForInitializationAsync(CancellationToken token)
+    {
+        _initializationTcs = new TaskCompletionSource<bool>();


WaitForInitializationAsync creates a TaskCompletionSource<bool> without TaskCreationOptions.RunContinuationsAsynchronously. Since completion can occur on a timer/notification callback thread, running continuations inline can cause unexpected reentrancy; consider creating the TCS with RunContinuationsAsynchronously (as done elsewhere in this PR).

Suggested change

_initializationTcs = new TaskCompletionSource<bool>();

_initializationTcs = new TaskCompletionSource<bool>(TaskCreationOptions.RunContinuationsAsynchronously);

Copilot · 2026-03-22T12:06:32Z

BrickController2/BrickController2/DeviceManagement/Lego/ControlPlusDeviceBase.cs

+    {
+        Characteristic = null;


OnDeviceDisconnecting() only nulls Characteristic. Any pending initialization debounce timer/CTS and _initializationTcs remain alive across disconnects, which can leak and/or complete unexpectedly after reconnect. Consider cancelling/disposing _debounceCts and clearing _initializationTcs/state here.

Suggested change

{

Characteristic = null;

{

// Clear characteristic reference for this connection

Characteristic = null;

// Cancel and dispose any pending debounce timer to avoid it firing after disconnect

var debounceCts = _debounceCts;

if (debounceCts is not null)

{

_debounceCts = null;

try

{

debounceCts.Cancel();

}

catch (ObjectDisposedException)

{

// If already disposed, ignore

}

debounceCts.Dispose();

}

// Cancel any pending initialization task so it cannot complete after reconnect

var initializationTcs = _initializationTcs;

if (initializationTcs is not null && !initializationTcs.Task.IsCompleted)

{

initializationTcs.TrySetCanceled();

}

_initializationTcs = null;

Copilot · 2026-03-22T12:06:32Z

BrickController2/BrickController2/DeviceManagement/Lego/ControlPlusDeviceBase.cs

+    private void ResetDebounceTimer()
+    {
+        // Cancel the previous timer
+        _debounceCts?.Cancel();
+        _debounceCts = new CancellationTokenSource();
+
+        // Start a new timer
+        Task.Delay(BurstTimeout, _debounceCts.Token).ContinueWith(t =>
+        {
+            // If the task was NOT canceled, it means timeout passed with no new ports
+            if (!t.IsCanceled && _initializationTcs != null && !_initializationTcs.Task.IsCompleted)
+            {
+                _initializationTcs.TrySetResult(true);
+            }
+        });
+    }
+


ResetDebounceTimer uses Task.Delay(...).ContinueWith(...) without specifying a scheduler, so it can capture TaskScheduler.Current and run the continuation on an unexpected context. Consider using TaskScheduler.Default (or rewriting as an async fire-and-forget method) and disposing the previous _debounceCts after cancellation to avoid CTS buildup.

Suggested change

private void ResetDebounceTimer()

{

// Cancel the previous timer

_debounceCts?.Cancel();

_debounceCts = new CancellationTokenSource();

// Start a new timer

Task.Delay(BurstTimeout, _debounceCts.Token).ContinueWith(t =>

{

// If the task was NOT canceled, it means timeout passed with no new ports

if (!t.IsCanceled && _initializationTcs != null && !_initializationTcs.Task.IsCompleted)

{

_initializationTcs.TrySetResult(true);

}

});

}

private async Task RunDebounceTimerAsync(CancellationTokenSource debounceCts)

{

try

{

await Task.Delay(BurstTimeout, debounceCts.Token).ConfigureAwait(false);

// If the task was NOT canceled, it means timeout passed with no new ports

if (!debounceCts.IsCancellationRequested && _initializationTcs != null && !_initializationTcs.Task.IsCompleted)

{

_initializationTcs.TrySetResult(true);

}

}

catch (TaskCanceledException)

{

// Swallow cancellation exceptions; cancellation is expected behavior.

}

finally

{

debounceCts.Dispose();

}

}

private void ResetDebounceTimer()

{

// Cancel and dispose the previous timer

var previousCts = _debounceCts;

if (previousCts != null)

{

try

{

previousCts.Cancel();

}

finally

{

previousCts.Dispose();

}

}

// Start a new timer

_debounceCts = new CancellationTokenSource();

var currentCts = _debounceCts;

// Fire-and-forget debounce timer using the default task scheduler

_ = RunDebounceTimerAsync(currentCts);

}

BrickController2/BrickController2/DeviceManagement/IO/OutputValuesGroup.cs

Copilot

Pull request overview

Copilot reviewed 20 out of 20 changed files in this pull request and generated 4 comments.

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BrickController2/BrickController2/DeviceManagement/Lego/ControlPlusDeviceBase.cs

Copilot · 2026-03-25T20:21:16Z

BrickController2/BrickController2/DeviceManagement/ControlPlusDevice.cs

                    _virtualPortSendBuffer[6] = (byte)(value1 < 0 ? (255 + value1) : value1);
                    _virtualPortSendBuffer[7] = (byte)(value2 < 0 ? (255 + value2) : value2);


SendOutputValueVirtualAsync still converts negative motor values using 255 + value while GetOutputCommand now uses LegoWirelessProtocol.ToByte(value) (two's-complement via value & 0xFF). These mappings differ (e.g., -1 becomes 254 vs 255), so virtual-port outputs can behave differently from non-virtual outputs. Consider using the same conversion helper for both paths to keep behavior consistent.

Suggested change

_virtualPortSendBuffer[6] = (byte)(value1 < 0 ? (255 + value1) : value1);

_virtualPortSendBuffer[7] = (byte)(value2 < 0 ? (255 + value2) : value2);

_virtualPortSendBuffer[6] = ToByte(value1);

_virtualPortSendBuffer[7] = ToByte(value2);

Copilot · 2026-03-25T20:21:16Z

BrickController2/BrickController2/DeviceManagement/IO/DeviceInitializationWaiter.cs

+    /// </summary>
+    public void NotifyPortAttached()
+    {
+        _debounceCts?.Cancel();


DeviceInitializationWaiter.NotifyPortAttached() cancels the previous CancellationTokenSource but never disposes it. This can leak native resources over repeated reconnects/attach bursts. Dispose the old CTS after canceling (and consider setting it to null before creating a new one) to avoid accumulation.

Suggested change

_debounceCts?.Cancel();

var oldCts = _debounceCts;

if (oldCts != null)

{

oldCts.Cancel();

oldCts.Dispose();

}

Copilot · 2026-03-25T20:21:16Z

BrickController2/BrickController2/DeviceManagement/IO/DeviceInitializationWaiter.cs

+        Task.Delay(BurstTimeout, _debounceCts.Token).ContinueWith(t =>
+        {
+            if (!t.IsCanceled && _initializationTcs is { Task.IsCompleted: false })
+            {
+                _initializationTcs.TrySetResult(true);
+            }
+        });


NotifyPortAttached() uses Task.Delay(...).ContinueWith(...) without specifying a TaskScheduler. ContinueWith defaults to TaskScheduler.Current, which can unexpectedly marshal the continuation onto a captured context (e.g., UI) depending on where NotifyPortAttached is called. Prefer using an async method with ConfigureAwait(false), or specify TaskScheduler.Default (and appropriate TaskContinuationOptions) so this always runs on the threadpool.

Suggested change

Task.Delay(BurstTimeout, _debounceCts.Token).ContinueWith(t =>

{

if (!t.IsCanceled && _initializationTcs is { Task.IsCompleted: false })

{

_initializationTcs.TrySetResult(true);

}

});

_ = DebounceAsync(_debounceCts.Token);

}

private async Task DebounceAsync(CancellationToken token)

{

try

{

await Task.Delay(BurstTimeout, token).ConfigureAwait(false);

}

catch (TaskCanceledException)

{

return;

}

if (_initializationTcs is { Task.IsCompleted: false })

{

_initializationTcs.TrySetResult(true);

}

Vit Nemecky added 2 commits March 16, 2026 22:20

GATT object cleanup - OnDeviceDisconnecting

56f16e5

finetune command flow for LEGO Technic Move Hub

8f12267

vicocz requested a review from Copilot March 17, 2026 22:51

Copilot started reviewing on behalf of vicocz March 17, 2026 22:51 View session

Copilot AI reviewed Mar 17, 2026

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BrickController2/BrickController2/DeviceManagement/TechnicMoveDevice.cs Outdated Show resolved Hide resolved

nit picks

2862dc4

vicocz requested a review from Copilot March 18, 2026 21:44

Copilot AI reviewed Mar 18, 2026

View reviewed changes

split C+ implementation so as Move Hub can be more specific - WORK save

7e210c4

vicocz requested a review from Copilot March 21, 2026 15:52

Copilot started reviewing on behalf of vicocz March 21, 2026 15:52 View session

Copilot AI reviewed Mar 21, 2026

View reviewed changes

vicocz added 2 commits March 21, 2026 22:43

finetune / fixes

7fbf7c8

try wait for init

216a963

vicocz requested a review from Copilot March 22, 2026 12:02

Copilot started reviewing on behalf of vicocz March 22, 2026 12:02 View session

Copilot AI reviewed Mar 22, 2026

View reviewed changes

init wait component

690e0f2

vicocz requested a review from Copilot March 25, 2026 20:15

Copilot started reviewing on behalf of vicocz March 25, 2026 20:16 View session

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View reviewed changes

nit picks

c3dec20

-                await WaitForInitializationAsync(token);
+                var initialized = await WaitForInitializationAsync(token);
+                if (!initialized)
+                {
+                    return false;
+                }

	_initializationTcs = new TaskCompletionSource<bool>();
	_initializationTcs = new TaskCompletionSource<bool>(TaskCreationOptions.RunContinuationsAsynchronously);

-    {
-        Characteristic = null;
+    {
+        // Clear characteristic reference for this connection
+        Characteristic = null;
+        // Cancel and dispose any pending debounce timer to avoid it firing after disconnect
+        var debounceCts = _debounceCts;
+        if (debounceCts is not null)
+        {
+            _debounceCts = null;
+            try
+            {
+                debounceCts.Cancel();
+            }
+            catch (ObjectDisposedException)
+            {
+                // If already disposed, ignore
+            }
+            debounceCts.Dispose();
+        }
+        // Cancel any pending initialization task so it cannot complete after reconnect
+        var initializationTcs = _initializationTcs;
+        if (initializationTcs is not null && !initializationTcs.Task.IsCompleted)
+        {
+            initializationTcs.TrySetCanceled();
+        }
+        _initializationTcs = null;

		_virtualPortSendBuffer[6] = (byte)(value1 < 0 ? (255 + value1) : value1);
		_virtualPortSendBuffer[7] = (byte)(value2 < 0 ? (255 + value2) : value2);

-        _debounceCts?.Cancel();
+        var oldCts = _debounceCts;
+        if (oldCts != null)
+        {
+            oldCts.Cancel();
+            oldCts.Dispose();
+        }

-        Task.Delay(BurstTimeout, _debounceCts.Token).ContinueWith(t =>
-        {
-            if (!t.IsCanceled && _initializationTcs is { Task.IsCompleted: false })
-            {
-                _initializationTcs.TrySetResult(true);
-            }
-        });
+        _ = DebounceAsync(_debounceCts.Token);
+    }
+    private async Task DebounceAsync(CancellationToken token)
+    {
+        try
+        {
+            await Task.Delay(BurstTimeout, token).ConfigureAwait(false);
+        }
+        catch (TaskCanceledException)
+        {
+            return;
+        }
+        if (_initializationTcs is { Task.IsCompleted: false })
+        {
+            _initializationTcs.TrySetResult(true);
+        }

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