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pybricks.connections.pybricks: Clear halt on endpoints instead of resetting device. #133

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Merged
dlech merged 1 commit into from
Jan 24, 2026
Merged

pybricks.connections.pybricks: Clear halt on endpoints instead of resetting device. #133

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8 changes: 6 additions & 2 deletions pybricksdev/connections/pybricks.py
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Original file line number Diff line number Diff line change
Expand Up @@ -946,8 +946,6 @@ def __init__(self, device: USBDevice):
self._response_queue = asyncio.Queue[bytes]()

async def _client_connect(self) -> bool:
# Reset is essential to ensure endpoints are in a good state.
self._device.reset()
self._device.set_configuration()

# Save input and output endpoints
Expand All @@ -964,6 +962,12 @@ async def _client_connect(self) -> bool:
== ENDPOINT_OUT,
)

# Clearing halt (even if not stalled) resets the even/odd state on the
# endpoints in case it was left in an invalid state by a previous
# connection.
self._ep_in.clear_halt()
self._ep_out.clear_halt()

# There is 1 byte overhead for PybricksUsbMessageType
self._max_write_size = self._ep_out.wMaxPacketSize - 1

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