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BLE: use NimBLEClient for connections, fix service discovery and host reset

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Root cause: connectNative() used raw ble_gap_connect() which bypasses
NimBLE's client management. The NimBLEClient created afterwards wasn't
associated with the connection handle, causing service discovery to fail
with "could not retrieve services". This led to a connect-disconnect loop
where no BLE peers could complete handshakes.

Fix: Replace raw ble_gap_connect() with NimBLEClient::connect() which
properly manages the GAP event handler, connection handle tracking, MTU
exchange, and service discovery. Connections now succeed with MTU 517
and identity handshakes complete.

Also fixed:
- Error recovery escalates to full stack reset (deinit/reinit) when
  NimBLE host fails to sync, instead of looping in a dead state
- Added recursion guard in enterErrorRecovery()
- Promoted key BLE logs (scan, connect, peer status) to INFO level
  for visibility during monitoring
- Added 10-second serial heartbeat with connection/peer/heap stats

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
torlando-tech
2026-02-22 21:34:28 -05:00
parent 769c9952bd
commit 869963c33c
2 changed files with 97 additions and 167 deletions
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lib/ble_interface/BLEInterface.cpp
+30 -14
View File
@@ -137,8 +137,23 @@ void BLEInterface::stop() {
void BLEInterface::loop() {
static double last_loop_log = 0;
static bool local_mac_set = false;
static uint32_t loop_count = 0;
double now = Utilities::OS::time();
loop_count++;
// Direct serial heartbeat every 10s
static uint32_t last_hb = 0;
uint32_t now_ms = millis();
if (now_ms - last_hb >= 10000) {
last_hb = now_ms;
Serial.printf("[BLE] loops=%u online=%d scanning=%d connected=%d peers=%d heap=%u\n",
loop_count, (int)_online,
(int)(_platform && _platform->isScanning()),
(int)_peer_manager.connectedCount(),
(int)_peer_manager.getAllPeers().size(),
ESP.getFreeHeap());
}
// Lazy init: set local MAC once NimBLE has a valid random address
if (!local_mac_set && _platform) {
auto addr = _platform->getLocalAddress();
@@ -220,10 +235,11 @@ void BLEInterface::loop() {
// Debug: log loop status every 10 seconds
if (now - last_loop_log >= 10.0) {
DEBUG("BLEInterface::loop() platform=" + std::string(_platform ? "yes" : "no") +
" running=" + std::string(_platform && _platform->isRunning() ? "yes" : "no") +
" scanning=" + std::string(_platform && _platform->isScanning() ? "yes" : "no") +
" connected=" + std::to_string(_peer_manager.connectedCount()));
INFO("BLE: running=" + std::string(_platform && _platform->isRunning() ? "yes" : "no") +
" scanning=" + std::string(_platform && _platform->isScanning() ? "yes" : "no") +
" connected=" + std::to_string(_peer_manager.connectedCount()) +
" peers=" + std::to_string(_peer_manager.getAllPeers().size()) +
" heap=" + std::to_string(ESP.getFreeHeap()));
last_loop_log = now;
}
@@ -579,7 +595,7 @@ void BLEInterface::onConnected(const ConnectionHandle& conn) {
" for peer " + conn.peer_address.toString());
}
DEBUG("BLEInterface: Connected to " + conn.peer_address.toString() +
INFO("BLE: Connected to " + conn.peer_address.toString() +
" (we are central)");
// Discover services
@@ -610,7 +626,7 @@ void BLEInterface::onDisconnected(const ConnectionHandle& conn, uint8_t reason)
_identity_manager.removeMapping(mac);
DEBUG("BLEInterface: Disconnected from " + conn.peer_address.toString() +
INFO("BLE: Disconnected from " + conn.peer_address.toString() +
" reason: " + std::to_string(reason));
}
@@ -651,7 +667,7 @@ void BLEInterface::onServicesDiscovered(const ConnectionHandle& conn, bool succe
return;
}
DEBUG("BLEInterface: Services discovered for " + conn.peer_address.toString());
INFO("BLE: Services discovered for " + conn.peer_address.toString());
// Enable notifications on TX characteristic
_platform->enableNotifications(conn.handle, true);
@@ -842,20 +858,20 @@ void BLEInterface::processDiscoveredPeers() {
static double last_peer_log = 0;
if (now - last_peer_log >= 10.0) {
auto all_peers = _peer_manager.getAllPeers();
DEBUG("BLEInterface: Peer count=" + std::to_string(all_peers.size()) +
" localMAC=" + _peer_manager.getLocalMac().toString());
INFO("BLE: Peers=" + std::to_string(all_peers.size()) +
" localMAC=" + _peer_manager.getLocalMac().toString());
for (PeerInfo* peer : all_peers) {
bool should_initiate = _peer_manager.shouldInitiateConnection(peer->mac_address);
DEBUG("BLEInterface: Peer " + BLEAddress(peer->mac_address.data()).toString() +
" state=" + std::to_string(static_cast<int>(peer->state)) +
" shouldInitiate=" + std::string(should_initiate ? "yes" : "no") +
" score=" + std::to_string(peer->score));
INFO("BLE: Peer " + BLEAddress(peer->mac_address.data()).toString() +
" state=" + std::to_string(static_cast<int>(peer->state)) +
" shouldInit=" + std::string(should_initiate ? "yes" : "no") +
" score=" + std::to_string(peer->score));
}
last_peer_log = now;
}
if (candidate) {
DEBUG("BLEInterface: Connection candidate: " + BLEAddress(candidate->mac_address.data()).toString() +
INFO("BLE: Connection candidate: " + BLEAddress(candidate->mac_address.data()).toString() +
" type=" + std::to_string(candidate->address_type) +
" canAccept=" + std::string(_peer_manager.canAcceptConnection() ? "yes" : "no"));
}