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Defer companion mode switch from BLE callbacks to loop()

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BLE server callbacks run on the NimBLE host task, not the Arduino
loop task. Calling WiFi state changes and delay() from that context
can stall BLE processing or trip watchdogs, and mutating scan
duration creates a cross-task data race.

Fix: callbacks now just set a volatile pending flag. The actual
WiFi/scan changes are applied in loop() where they're safe.
This commit is contained in:
Doug Borg
2026-02-07 21:03:19 -07:00
parent 23635be125
commit 47739675c7
1 changed files with 13 additions and 10 deletions
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src/main.cpp
+13 -10
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@@ -157,6 +157,10 @@ static volatile bool fySerialHostConnected = false;
static unsigned long fyLastSerialHeartbeat = 0;
#define FY_SERIAL_TIMEOUT_MS 5000
// Deferred companion mode switch — BLE callbacks set this flag,
// loop() applies the WiFi/scan changes in the Arduino task context.
static volatile bool fyCompanionChangePending = false;
// Phone GPS state (updated via browser Geolocation API -> /api/gps)
static double fyGPSLat = 0;
static double fyGPSLon = 0;
@@ -385,21 +389,16 @@ static int fyAddDetection(const char* mac, const char* name, int rssi,
// BLE GATT SERVER (DeFlock companion connectivity)
// ============================================================================
// Forward declaration
static void fyOnCompanionChange();
class FYServerCallbacks : public NimBLEServerCallbacks {
void onConnect(NimBLEServer* pServer, ble_gap_conn_desc* desc) override {
fyBLEClientConnected = true;
printf("[FLOCK-YOU] BLE client connected\n");
fyOnCompanionChange();
fyCompanionChangePending = true;
}
void onDisconnect(NimBLEServer* pServer, ble_gap_conn_desc* desc) override {
fyBLEClientConnected = false;
fyNegotiatedMTU = 23;
printf("[FLOCK-YOU] BLE client disconnected\n");
NimBLEDevice::startAdvertising();
fyOnCompanionChange();
fyCompanionChangePending = true;
}
void onMTUChange(uint16_t mtu, ble_gap_conn_desc* desc) override {
fyNegotiatedMTU = mtu;
@@ -1078,13 +1077,17 @@ void loop() {
fyLastSerialHeartbeat = millis();
if (!fySerialHostConnected) {
fySerialHostConnected = true;
printf("[FLOCK-YOU] Serial host connected\n");
fyOnCompanionChange();
fyCompanionChangePending = true;
}
} else if (fySerialHostConnected &&
millis() - fyLastSerialHeartbeat >= FY_SERIAL_TIMEOUT_MS) {
fySerialHostConnected = false;
printf("[FLOCK-YOU] Serial host disconnected (timeout)\n");
fyCompanionChangePending = true;
}
// Apply deferred companion mode switch (from BLE callbacks or serial detection)
if (fyCompanionChangePending) {
fyCompanionChangePending = false;
fyOnCompanionChange();
}