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[esp32_ble_tracker] Refactor loop() method for improved readability and performance

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This commit is contained in:
J. Nick Koston
2025-08-04 09:24:22 -10:00
parent 36c4430317
commit 739cc5ff50
2 changed files with 194 additions and 187 deletions
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314
esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
View File

@@ -49,13 +49,6 @@ void ESP32BLETracker::setup() {
ESP_LOGE(TAG, "BLE Tracker was marked failed by ESP32BLE");
return;
}
RAMAllocator<BLEScanResult> allocator;
this->scan_ring_buffer_ = allocator.allocate(SCAN_RESULT_BUFFER_SIZE);
if (this->scan_ring_buffer_ == nullptr) {
ESP_LOGE(TAG, "Could not allocate ring buffer for BLE Tracker!");
this->mark_failed();
}
global_esp32_ble_tracker = this;
@@ -83,124 +76,17 @@ void ESP32BLETracker::loop() {
this->start_scan();
}
}
int connecting = 0;
int discovered = 0;
int searching = 0;
int disconnecting = 0;
for (auto *client : this->clients_) {
switch (client->state()) {
case ClientState::DISCONNECTING:
disconnecting++;
break;
case ClientState::DISCOVERED:
discovered++;
break;
case ClientState::SEARCHING:
searching++;
break;
case ClientState::CONNECTING:
case ClientState::READY_TO_CONNECT:
connecting++;
break;
default:
break;
}
ClientStateCounts counts = this->count_client_states_();
if (counts != this->client_state_counts_) {
this->client_state_counts_ = counts;
ESP_LOGD(TAG, "connecting: %d, discovered: %d, searching: %d, disconnecting: %d",
this->client_state_counts_.connecting, this->client_state_counts_.discovered,
this->client_state_counts_.searching, this->client_state_counts_.disconnecting);
}
if (connecting != connecting_ || discovered != discovered_ || searching != searching_ ||
disconnecting != disconnecting_) {
connecting_ = connecting;
discovered_ = discovered;
searching_ = searching;
disconnecting_ = disconnecting;
ESP_LOGD(TAG, "connecting: %d, discovered: %d, searching: %d, disconnecting: %d", connecting_, discovered_,
searching_, disconnecting_);
}
bool promote_to_connecting = discovered && !searching && !connecting;
// Process scan results from lock-free SPSC ring buffer
// Consumer side: This runs in the main loop thread
if (this->scanner_state_ == ScannerState::RUNNING) {
// Load our own index with relaxed ordering (we're the only writer)
uint8_t read_idx = this->ring_read_index_.load(std::memory_order_relaxed);
// Load producer's index with acquire to see their latest writes
uint8_t write_idx = this->ring_write_index_.load(std::memory_order_acquire);
while (read_idx != write_idx) {
// Calculate how many contiguous results we can process in one batch
// If write > read: process all results from read to write
// If write <= read (wraparound): process from read to end of buffer first
size_t batch_size = (write_idx > read_idx) ? (write_idx - read_idx) : (SCAN_RESULT_BUFFER_SIZE - read_idx);
// Process the batch for raw advertisements
if (this->raw_advertisements_) {
for (auto *listener : this->listeners_) {
listener->parse_devices(&this->scan_ring_buffer_[read_idx], batch_size);
}
for (auto *client : this->clients_) {
client->parse_devices(&this->scan_ring_buffer_[read_idx], batch_size);
}
}
// Process individual results for parsed advertisements
if (this->parse_advertisements_) {
#ifdef USE_ESP32_BLE_DEVICE
for (size_t i = 0; i < batch_size; i++) {
BLEScanResult &scan_result = this->scan_ring_buffer_[read_idx + i];
ESPBTDevice device;
device.parse_scan_rst(scan_result);
bool found = false;
for (auto *listener : this->listeners_) {
if (listener->parse_device(device))
found = true;
}
for (auto *client : this->clients_) {
if (client->parse_device(device)) {
found = true;
if (!connecting && client->state() == ClientState::DISCOVERED) {
promote_to_connecting = true;
}
}
}
if (!found && !this->scan_continuous_) {
this->print_bt_device_info(device);
}
}
#endif // USE_ESP32_BLE_DEVICE
}
// Update read index for entire batch
read_idx = (read_idx + batch_size) % SCAN_RESULT_BUFFER_SIZE;
// Store with release to ensure reads complete before index update
this->ring_read_index_.store(read_idx, std::memory_order_release);
}
// Log dropped results periodically
size_t dropped = this->scan_results_dropped_.exchange(0, std::memory_order_relaxed);
if (dropped > 0) {
ESP_LOGW(TAG, "Dropped %zu BLE scan results due to buffer overflow", dropped);
}
}
if (this->scanner_state_ == ScannerState::FAILED ||
(this->scan_set_param_failed_ && this->scanner_state_ == ScannerState::RUNNING)) {
this->stop_scan_();
if (this->scan_start_fail_count_ == std::numeric_limits<uint8_t>::max()) {
ESP_LOGE(TAG, "Scan could not restart after %d attempts, rebooting to restore stack (IDF)",
std::numeric_limits<uint8_t>::max());
App.reboot();
}
if (this->scan_start_failed_) {
ESP_LOGE(TAG, "Scan start failed: %d", this->scan_start_failed_);
this->scan_start_failed_ = ESP_BT_STATUS_SUCCESS;
}
if (this->scan_set_param_failed_) {
ESP_LOGE(TAG, "Scan set param failed: %d", this->scan_set_param_failed_);
this->scan_set_param_failed_ = ESP_BT_STATUS_SUCCESS;
}
this->handle_scanner_failure_();
}
/*
@@ -215,13 +101,12 @@ void ESP32BLETracker::loop() {
https://github.com/espressif/esp-idf/issues/6688
*/
if (this->scanner_state_ == ScannerState::IDLE && !connecting && !disconnecting && !promote_to_connecting) {
bool promote_to_connecting = counts.discovered && !counts.searching && !counts.connecting;
if (this->scanner_state_ == ScannerState::IDLE && !counts.connecting && !counts.disconnecting &&
!promote_to_connecting) {
#ifdef USE_ESP32_BLE_SOFTWARE_COEXISTENCE
if (this->coex_prefer_ble_) {
this->coex_prefer_ble_ = false;
ESP_LOGD(TAG, "Setting coexistence preference to balanced.");
esp_coex_preference_set(ESP_COEX_PREFER_BALANCE); // Reset to default
}
this->update_coex_preference_(false);
#endif
if (this->scan_continuous_) {
this->start_scan_(false); // first = false
@@ -229,31 +114,13 @@ void ESP32BLETracker::loop() {
}
// If there is a discovered client and no connecting
// clients and no clients using the scanner to search for
// devices, then stop scanning and promote the discovered
// client to ready to connect.
// devices, then promote the discovered client to ready to connect.
// We check both RUNNING and IDLE states because:
// - RUNNING: gap_scan_event_handler initiates stop_scan_() but promotion can happen immediately
// - IDLE: Scanner has already stopped (naturally or by gap_scan_event_handler)
if (promote_to_connecting &&
(this->scanner_state_ == ScannerState::RUNNING || this->scanner_state_ == ScannerState::IDLE)) {
for (auto *client : this->clients_) {
if (client->state() == ClientState::DISCOVERED) {
if (this->scanner_state_ == ScannerState::RUNNING) {
ESP_LOGD(TAG, "Stopping scan to make connection");
this->stop_scan_();
} else if (this->scanner_state_ == ScannerState::IDLE) {
ESP_LOGD(TAG, "Promoting client to connect");
// We only want to promote one client at a time.
// once the scanner is fully stopped.
#ifdef USE_ESP32_BLE_SOFTWARE_COEXISTENCE
ESP_LOGD(TAG, "Setting coexistence to Bluetooth to make connection.");
if (!this->coex_prefer_ble_) {
this->coex_prefer_ble_ = true;
esp_coex_preference_set(ESP_COEX_PREFER_BT); // Prioritize Bluetooth
}
#endif
client->set_state(ClientState::READY_TO_CONNECT);
}
break;
}
}
this->try_promote_discovered_clients_();
}
}
@@ -390,31 +257,18 @@ void ESP32BLETracker::gap_event_handler(esp_gap_ble_cb_event_t event, esp_ble_ga
void ESP32BLETracker::gap_scan_event_handler(const BLEScanResult &scan_result) {
// Note: This handler is called from the main loop context via esp32_ble's event queue.
// However, we still use a lock-free ring buffer to batch results efficiently.
// We process advertisements immediately instead of buffering them.
ESP_LOGV(TAG, "gap_scan_result - event %d", scan_result.search_evt);
if (scan_result.search_evt == ESP_GAP_SEARCH_INQ_RES_EVT) {
// Ring buffer write (Producer side)
// Even though we're in the main loop, the ring buffer design allows efficient batching
// IMPORTANT: Only this thread writes to ring_write_index_
// Process the scan result immediately
bool found_discovered_client = this->process_scan_result_(scan_result);
// Load our own index with relaxed ordering (we're the only writer)
uint8_t write_idx = this->ring_write_index_.load(std::memory_order_relaxed);
uint8_t next_write_idx = (write_idx + 1) % SCAN_RESULT_BUFFER_SIZE;
// Load consumer's index with acquire to see their latest updates
uint8_t read_idx = this->ring_read_index_.load(std::memory_order_acquire);
// Check if buffer is full
if (next_write_idx != read_idx) {
// Write to ring buffer
this->scan_ring_buffer_[write_idx] = scan_result;
// Store with release to ensure the write is visible before index update
this->ring_write_index_.store(next_write_idx, std::memory_order_release);
} else {
// Buffer full, track dropped results
this->scan_results_dropped_.fetch_add(1, std::memory_order_relaxed);
// If we found a discovered client that needs promotion, stop scanning
// This replaces the promote_to_connecting logic from loop()
if (found_discovered_client && this->scanner_state_ == ScannerState::RUNNING) {
ESP_LOGD(TAG, "Found discovered client, stopping scan for connection");
this->stop_scan_();
}
} else if (scan_result.search_evt == ESP_GAP_SEARCH_INQ_CMPL_EVT) {
// Scan finished on its own
@@ -781,8 +635,9 @@ void ESP32BLETracker::dump_config() {
ESP_LOGCONFIG(TAG, " Scanner State: FAILED");
break;
}
ESP_LOGCONFIG(TAG, " Connecting: %d, discovered: %d, searching: %d, disconnecting: %d", connecting_, discovered_,
searching_, disconnecting_);
ESP_LOGCONFIG(TAG, " Connecting: %d, discovered: %d, searching: %d, disconnecting: %d",
this->client_state_counts_.connecting, this->client_state_counts_.discovered,
this->client_state_counts_.searching, this->client_state_counts_.disconnecting);
if (this->scan_start_fail_count_) {
ESP_LOGCONFIG(TAG, " Scan Start Fail Count: %d", this->scan_start_fail_count_);
}
@@ -859,8 +714,66 @@ bool ESPBTDevice::resolve_irk(const uint8_t *irk) const {
return ecb_ciphertext[15] == (addr64 & 0xff) && ecb_ciphertext[14] == ((addr64 >> 8) & 0xff) &&
ecb_ciphertext[13] == ((addr64 >> 16) & 0xff);
}
bool ESP32BLETracker::has_connecting_clients_() const {
for (auto *client : this->clients_) {
auto state = client->state();
if (state == ClientState::CONNECTING || state == ClientState::READY_TO_CONNECT) {
return true;
}
}
return false;
}
#endif // USE_ESP32_BLE_DEVICE
bool ESP32BLETracker::process_scan_result_(const BLEScanResult &scan_result) {
bool found_discovered_client = false;
// Process raw advertisements
if (this->raw_advertisements_) {
for (auto *listener : this->listeners_) {
listener->parse_devices(&scan_result, 1);
}
for (auto *client : this->clients_) {
client->parse_devices(&scan_result, 1);
}
}
// Process parsed advertisements
if (this->parse_advertisements_) {
#ifdef USE_ESP32_BLE_DEVICE
ESPBTDevice device;
device.parse_scan_rst(scan_result);
bool found = false;
for (auto *listener : this->listeners_) {
if (listener->parse_device(device))
found = true;
}
for (auto *client : this->clients_) {
if (client->parse_device(device)) {
found = true;
// Check if this client is discovered and needs promotion
if (client->state() == ClientState::DISCOVERED) {
// Only check for connecting clients if we found a discovered client
// This matches the original logic: !connecting && client->state() == DISCOVERED
if (!this->has_connecting_clients_()) {
found_discovered_client = true;
}
}
}
}
if (!found && !this->scan_continuous_) {
this->print_bt_device_info(device);
}
#endif // USE_ESP32_BLE_DEVICE
}
return found_discovered_client;
}
void ESP32BLETracker::cleanup_scan_state_(bool is_stop_complete) {
ESP_LOGD(TAG, "Scan %scomplete, set scanner state to IDLE.", is_stop_complete ? "stop " : "");
this->already_discovered_.clear();
@@ -872,6 +785,61 @@ void ESP32BLETracker::cleanup_scan_state_(bool is_stop_complete) {
this->set_scanner_state_(ScannerState::IDLE);
}
void ESP32BLETracker::handle_scanner_failure_() {
this->stop_scan_();
if (this->scan_start_fail_count_ == std::numeric_limits<uint8_t>::max()) {
ESP_LOGE(TAG, "Scan could not restart after %d attempts, rebooting to restore stack (IDF)",
std::numeric_limits<uint8_t>::max());
App.reboot();
}
if (this->scan_start_failed_) {
ESP_LOGE(TAG, "Scan start failed: %d", this->scan_start_failed_);
this->scan_start_failed_ = ESP_BT_STATUS_SUCCESS;
}
if (this->scan_set_param_failed_) {
ESP_LOGE(TAG, "Scan set param failed: %d", this->scan_set_param_failed_);
this->scan_set_param_failed_ = ESP_BT_STATUS_SUCCESS;
}
}
void ESP32BLETracker::try_promote_discovered_clients_() {
for (auto *client : this->clients_) {
if (client->state() != ClientState::DISCOVERED) {
continue;
}
if (this->scanner_state_ == ScannerState::RUNNING) {
ESP_LOGD(TAG, "Stopping scan to make connection");
this->stop_scan_();
// Don't wait for scan stop complete - promote immediately.
// This is safe because ESP-IDF processes BLE commands sequentially through its internal mailbox queue.
// This guarantees that the stop scan command will be fully processed before any subsequent connect command,
// preventing race conditions or overlapping operations.
}
ESP_LOGD(TAG, "Promoting client to connect");
#ifdef USE_ESP32_BLE_SOFTWARE_COEXISTENCE
this->update_coex_preference_(true);
#endif
client->set_state(ClientState::READY_TO_CONNECT);
break;
}
}
#ifdef USE_ESP32_BLE_SOFTWARE_COEXISTENCE
void ESP32BLETracker::update_coex_preference_(bool force_ble) {
if (force_ble && !this->coex_prefer_ble_) {
ESP_LOGD(TAG, "Setting coexistence to Bluetooth to make connection.");
this->coex_prefer_ble_ = true;
esp_coex_preference_set(ESP_COEX_PREFER_BT); // Prioritize Bluetooth
} else if (!force_ble && this->coex_prefer_ble_) {
ESP_LOGD(TAG, "Setting coexistence preference to balanced.");
this->coex_prefer_ble_ = false;
esp_coex_preference_set(ESP_COEX_PREFER_BALANCE); // Reset to default
}
}
#endif
} // namespace esphome::esp32_ble_tracker
#endif // USE_ESP32

67
esphome/components/esp32_ble_tracker/esp32_ble_tracker.h
View File

@@ -6,7 +6,6 @@
#include "esphome/core/helpers.h"
#include <array>
#include <atomic>
#include <string>
#include <vector>
@@ -21,6 +20,7 @@
#include "esphome/components/esp32_ble/ble.h"
#include "esphome/components/esp32_ble/ble_uuid.h"
#include "esphome/components/esp32_ble/ble_scan_result.h"
namespace esphome::esp32_ble_tracker {
@@ -136,6 +136,18 @@ class ESPBTDeviceListener {
ESP32BLETracker *parent_{nullptr};
};
struct ClientStateCounts {
uint8_t connecting = 0;
uint8_t discovered = 0;
uint8_t searching = 0;
uint8_t disconnecting = 0;
bool operator!=(const ClientStateCounts &other) const {
return connecting != other.connecting || discovered != other.discovered || searching != other.searching ||
disconnecting != other.disconnecting;
}
};
enum class ClientState : uint8_t {
// Connection is allocated
INIT,
@@ -272,6 +284,45 @@ class ESP32BLETracker : public Component,
void set_scanner_state_(ScannerState state);
/// Common cleanup logic when transitioning scanner to IDLE state
void cleanup_scan_state_(bool is_stop_complete);
/// Process a single scan result immediately
/// Returns true if a discovered client needs promotion to READY_TO_CONNECT
bool process_scan_result_(const BLEScanResult &scan_result);
#ifdef USE_ESP32_BLE_DEVICE
/// Check if any clients are in connecting or ready to connect state
bool has_connecting_clients_() const;
#endif
/// Handle scanner failure states
void handle_scanner_failure_();
/// Try to promote discovered clients to ready to connect
void try_promote_discovered_clients_();
#ifdef USE_ESP32_BLE_SOFTWARE_COEXISTENCE
/// Update BLE coexistence preference
void update_coex_preference_(bool force_ble);
#endif
/// Count clients in each state
ClientStateCounts count_client_states_() const {
ClientStateCounts counts;
for (auto *client : this->clients_) {
switch (client->state()) {
case ClientState::DISCONNECTING:
counts.disconnecting++;
break;
case ClientState::DISCOVERED:
counts.discovered++;
break;
case ClientState::SEARCHING:
counts.searching++;
break;
case ClientState::CONNECTING:
case ClientState::READY_TO_CONNECT:
counts.connecting++;
break;
default:
break;
}
}
return counts;
}
uint8_t app_id_{0};
@@ -295,21 +346,9 @@ class ESP32BLETracker : public Component,
bool raw_advertisements_{false};
bool parse_advertisements_{false};
// Lock-free Single-Producer Single-Consumer (SPSC) ring buffer for scan results
// Producer: ESP-IDF Bluetooth stack callback (gap_scan_event_handler)
// Consumer: ESPHome main loop (loop() method)
// This design ensures zero blocking in the BT callback and prevents scan result loss
BLEScanResult *scan_ring_buffer_;
std::atomic<uint8_t> ring_write_index_{0}; // Written only by BT callback (producer)
std::atomic<uint8_t> ring_read_index_{0}; // Written only by main loop (consumer)
std::atomic<uint16_t> scan_results_dropped_{0}; // Tracks buffer overflow events
esp_bt_status_t scan_start_failed_{ESP_BT_STATUS_SUCCESS};
esp_bt_status_t scan_set_param_failed_{ESP_BT_STATUS_SUCCESS};
int connecting_{0};
int discovered_{0};
int searching_{0};
int disconnecting_{0};
ClientStateCounts client_state_counts_;
#ifdef USE_ESP32_BLE_SOFTWARE_COEXISTENCE
bool coex_prefer_ble_{false};
#endif