Stopping and Stopped notifications distinct

gem-remotes-esp32/src/ble_server.rs

@@ -39,8 +39,9 @@ impl BleServer {
             //Commands::BluetoothDown { data: 0 },
             //Commands::BluetoothStop { data: 0 },
             Commands::NotifyMotorDown,
-            Commands::NotifyMotorStop,
+            Commands::NotifyMotorStopping,
             Commands::NotifyMotorUp,
+            Commands::NotifyMotorStopped,
         ];
         let r = dp.get_callback_channel(&cmds);
         let s = dp.get_cmd_channel();
@@ -94,7 +95,7 @@ impl BleServer {
         );
         button_stop.lock().set_value(&[1])
         .on_write(closure!(clone sender, |args: &mut OnWriteArgs| {
-            on_bluetooth_cmd(&sender, args, Commands::BluetoothStop {data: 0})
+            on_bluetooth_cmd(&sender, args, Commands::BluetoothStop {_data: 0})
         }));
 
 
@@ -119,11 +120,16 @@ impl BleServer {
                     button_down.lock().set_value(&BUTTON_PRESSED).notify();
                     button_stop.lock().set_value(&BUTTON_RELEASED).notify();
                 }
-                Commands::NotifyMotorStop => {
+                Commands::NotifyMotorStopping => {
                     button_up.lock().set_value(&BUTTON_RELEASED).notify();
                     button_down.lock().set_value(&BUTTON_RELEASED).notify();
                     button_stop.lock().set_value(&BUTTON_PRESSED).notify();
                 }
+                Commands::NotifyMotorStopped => {
+                    button_up.lock().set_value(&BUTTON_RELEASED).notify();
+                    button_down.lock().set_value(&BUTTON_RELEASED).notify();
+                    button_stop.lock().set_value(&BUTTON_RELEASED).notify();
+                }
                 _ => {
                     error!("Invalid command received by bluetooth handler {:?}", cmd);
                     // No need to reboot as state is recoverable.
@@ -148,9 +154,9 @@ fn on_bluetooth_cmd(sender: &SendQ, args: &mut OnWriteArgs, cmd: Commands) {
                 sender.send_blocking(Commands::BluetoothDown {data: v[0]} )
             } else {error!("Received zero-byte bluetooth characteristic update {:?}", cmd); Ok(())}
         }
-        Commands::BluetoothStop { data: _ } => {
+        Commands::BluetoothStop { _data: _ } => {
             if v.len() > 0 {
-                sender.send_blocking(Commands::BluetoothStop {data: v[0]} )
+                sender.send_blocking(Commands::BluetoothStop {_data: v[0]} )
             } else {error!("Received zero-byte bluetooth characteristic update {:?}", cmd); Ok(())}
         }
         _ => {error!("Tried to handle an unknown bluetooth command: {:?}",cmd);Ok(())}

gem-remotes-esp32/src/commands.rs

@@ -14,7 +14,7 @@ pub enum Commands {
     // Inputs from bluetooth
     BluetoothUp {data: u8},
     BluetoothDown {data: u8},
-    BluetoothStop {data: u8}, // There is no state where releasing the stop button induces a change.
+    BluetoothStop {_data: u8}, // There is no state where releasing the stop button induces a change.
 
     // Internal messages
     StopTimerExpired, // Sent when the 2 second stop sequence is complete
@@ -26,7 +26,8 @@ pub enum Commands {
 
     NotifyMotorUp,
     NotifyMotorDown,
-    NotifyMotorStop,
+    NotifyMotorStopping,
+    NotifyMotorStopped, // Signaled after stop timeout
 }
 
 pub type CmdType = std::mem::Discriminant<Commands>;

gem-remotes-esp32/src/motor_controller.rs

@@ -44,7 +44,7 @@ impl Controller {
             Commands::PicRecvStop,
             Commands::BluetoothUp{data: 0},
             Commands::BluetoothDown{data: 0},
-            Commands::BluetoothStop{data: 0},
+            Commands::BluetoothStop{_data: 0},
             Commands::StopTimerExpired,
             Commands::ButtonTimerExpired,
         ];
@@ -53,7 +53,9 @@ impl Controller {
 
     async fn enter_state(&mut self, new_s: &ControllerStates) -> Result<()> {
         match new_s {
-            ControllerStates::Stopped => {}
+            ControllerStates::Stopped => {
+                self.send.send(Commands::NotifyMotorStopped).await?;
+            }
             ControllerStates::Stopping => {
                 self.send.send(Commands::StopTimerRestart).await?;
                 self.motor_q.send(MotorCommands::Stop).await?;

gem-remotes-esp32/src/motor_driver.rs

@@ -80,7 +80,7 @@ impl MotorDriverDebug {
     }
     pub async fn stop(&self) -> Result<()> {
         warn!("Stopping motor");
-        self.dispatch.send(Dispatch_Commands::NotifyMotorStop).await?;
+        self.dispatch.send(Dispatch_Commands::NotifyMotorStopping).await?;
         Ok(())
     }
 }

gem-remotes-esp32/src/test_console.rs

@@ -114,7 +114,7 @@ pub fn process_menu(
         Menu::BluetoothStop { data } => {
             cli.writer()
                 .write_str("SendingBluetoothStop")?;
-            let _ = dispatch.send_blocking(Commands::BluetoothStop { data: data });
+            let _ = dispatch.send_blocking(Commands::BluetoothStop { _data: data });
         }
         Menu::BluetoothLearn { data } => {
             cli.writer()