✨ (BLE): Robot can disconnect itself

leka · Jul 19, 2024 · b38441a · b38441a
1 parent d80edbc
commit b38441a
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Showing 6 changed files with 24 additions and 2 deletions.
diff --git a/libs/BLEKit/include/BLEKit.h b/libs/BLEKit/include/BLEKit.h
@@ -32,6 +32,8 @@ class BLEKit
 	void onDisconnectionCallback(const std::function<void()> &callback);
 	[[nodiscard]] auto isConnected() const -> bool;
 
+	void disconnect();
+
 	void onMTUNegotiated(const std::function<void(uint16_t)> &callback);
 
   private:

diff --git a/libs/BLEKit/include/CoreGap.h b/libs/BLEKit/include/CoreGap.h
@@ -34,6 +34,8 @@ class CoreGap
 	void onDisconnectionCallback(const std::function<void()> &callback);
 	[[nodiscard]] auto isConnected() const -> bool;
 
+	void disconnect();
+
   private:
 	ble::advertising_handle_t _advertising_handle {ble::LEGACY_ADVERTISING_HANDLE};
 	ble::AdvertisingParameters _advertising_params {};

diff --git a/libs/BLEKit/include/CoreGapEventHandler.h b/libs/BLEKit/include/CoreGapEventHandler.h
@@ -28,13 +28,17 @@ class CoreGapEventHandler : public ble::Gap::EventHandler
 	void onDisconnectionCallback(const std::function<void()> &callback);
 	[[nodiscard]] auto isConnected() const -> bool;
 
+	[[nodiscard]] auto getConnectionHandle() const -> ble::connection_handle_t;
+
   private:
 	bool is_connected = false;
 
 	std::function<void()> _start_advertising {};
 
 	std::function<void(ble::connection_handle_t handle)> _on_connection_callback {};
 	std::function<void()> _on_disconnection_callback {};
+
+	ble::connection_handle_t _handle;
 };
 
 }	// namespace leka
diff --git a/libs/BLEKit/source/BLEKit.cpp b/libs/BLEKit/source/BLEKit.cpp
@@ -65,6 +65,10 @@ auto BLEKit::isConnected() const -> bool
 	return _core_gap.isConnected();
 }
 
+void BLEKit::disconnect() {
+	_core_gap.disconnect();
+}
+
 void BLEKit::onMTUNegotiated(const std::function<void(uint16_t)> &callback)
 {
 	_core_gatt_server.onMTUNegotiated(callback);

diff --git a/libs/BLEKit/source/CoreGap.cpp b/libs/BLEKit/source/CoreGap.cpp
@@ -96,3 +96,8 @@ auto CoreGap::isConnected() const -> bool
 {
 	return _gap_event_handler.isConnected();
 }
+
+void CoreGap::disconnect()
+{
+	_gap.disconnect(_gap_event_handler.getConnectionHandle(), ble::local_disconnection_reason_t::USER_TERMINATION);
+}
diff --git a/libs/BLEKit/source/CoreGapEventHandler.cpp b/libs/BLEKit/source/CoreGapEventHandler.cpp
@@ -28,8 +28,8 @@ void CoreGapEventHandler::onConnectionComplete(ConnectionCompleteEvent const &ev
 	}
 
 	if (_on_connection_callback != nullptr) {
-		auto handle = event.getConnectionHandle();
-		_on_connection_callback(handle);
+		_handle = event.getConnectionHandle();
+		_on_connection_callback(_handle);
 	}
 	is_connected = true;
 }
@@ -63,3 +63,8 @@ auto CoreGapEventHandler::isConnected() const -> bool
 {
 	return is_connected;
 }
+
+auto CoreGapEventHandler::getConnectionHandle() const -> connection_handle_t
+{
+	return _handle;
+}