pybricks/util_pb/pb_task: Don't wait for cancel on shutdown.

Fixes pybricks/support#814 so the user can at least turn the hub off without removing the batteries.
pybricks · Dec 7, 2022 · 153d76e · 153d76e
1 parent 3e50334
commit 153d76e
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -11,9 +11,12 @@
   calling `super().__init(...)` on uninitialized objects ([support#777]).
 - Reverted Pybricks Code stop button raises `SystemAbort` instead of
   `SystemExit` ([support#834]).
+- Fixed Technic Hub and City Hub sometimes not shutting down when a Bluetooth
+  operation is busy ([support#814]).
 
 [support#777]: https://github.com/pybricks/support/issues/777
 [support#805]: https://github.com/pybricks/support/issues/805
+[support#834]: https://github.com/pybricks/support/issues/814
 [support#826]: https://github.com/pybricks/support/issues/826
 [support#834]: https://github.com/pybricks/support/issues/834
 

diff --git a/pybricks/util_pb/pb_task.c b/pybricks/util_pb/pb_task.c
@@ -3,6 +3,7 @@
 
 #include <pbio/error.h>
 #include <pbio/task.h>
+#include <pbsys/status.h>
 
 #include "py/mpconfig.h"
 #include "py/mperrno.h"
@@ -41,7 +42,7 @@ void pb_wait_task(pbio_task_t *task, mp_int_t timeout) {
     } else {
         pbio_task_cancel(task);
 
-        while (task->status == PBIO_ERROR_AGAIN) {
+        while (task->status == PBIO_ERROR_AGAIN && !pbsys_status_test(PBIO_PYBRICKS_STATUS_SHUTDOWN_REQUEST)) {
             MICROPY_VM_HOOK_LOOP
         }