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Since efda5d02 ("drv/bluetooth_stm32_bluenrg: strict ordering of BLE
tasks"), it is no longer safe to call pbio_task_run_once() anywhere but
in the main contiki process loop of Bluetooth drivers.

This could break canceling some Bluetooth operations (causing them to
hang), but this will need to be fixed in a different way. A FIXME
comment with some suggestions is added to remind us to fix this.

This reverts commit a50ff187.

The Bluetooth drivers have task queues that prevent more than 1 task
from running concurrently.

The reverted change broke this safety mechanism by pumping tasks from
MicroPython causing multiple tasks to run at the same time, overwhelming
the Bluetooth chip.

We were always reading/writing 3 extra bytes because we weren't taking
into account the 3 extra bytes already sent for the header.

Also, real_write_xfer_size is unsigned and can be zero, so we should
not be subtracting from it.

Also, also, add some comments to clarify where the FCS (checksum) byte
comes into play.

The Move Hub cannot have true vector axes, but we can still use this API to initialize the hub using numeric indices.

This ensures we can use the custom orientation not just in tilt, but also in acceleration like we do on other hubs.

This object does not have an attribute handler, causing any imu read operation to crash the hub.

Fixes https://github.com/pybricks/support/issues/1269

Fixes https://github.com/pybricks/support/issues/1162

Fixes https://github.com/pybricks/support/issues/881

Fixes https://github.com/pybricks/support/issues/1151

Previously, tasks were only driven by Bluetooth events
so timers would not work correctly.

This is more consistent with the rest of our API where collections are returned.

Since None is used to indicate no data, it is more intuitive avoid it as a data type.

This will also allow us implement it such that broadcast(None) stops broadcasting, equivalent to reading None in observe. This is marked as a TODO for future implementation.

This makes it simple to send and receive single values.

It is also necessary for an upcoming non-Python implementation.

This ensures the same object is sent and received.

Fixes https://github.com/pybricks/support/issues/1213

This was putting the sensor in the wrong mode.

Fixes https://github.com/pybricks/support/issues/1232

This was called before the drivebase could be used, and the error was not returned.

Fixes 3ae1fb89 (which was unreleased).

Keep singular for backwards compatibility.

Fixes https://github.com/pybricks/support/issues/1254

Also ensure we pick the proper sign for v in radial computations.

With the newly introduced color cost function, any measured value less than 50 results in Color.NONE, which makes it the predominant result. This reduces the distance range for the default colors.

Instead of adjusting all colors (which are also used to emit colors), we can make the value of Color.NONE negative to achieve a similar result.

The newly introduced color cost function intrinsically deals with low s and v, so we don't need to artificially suppress them here.

This new distance function estimates the similarity of two hsv
colors by calculating their euclidean distance when mapped into a
Hue-Chroma-Lightness bicone. This is much more robust for realistic
colors, especially when low saturation or low value is involved.

For color detection applications, negative h can be used to increase the contrast between "no color" and any other color.

For most other application, the value has a lower bound of 0, which is what this commit enforces.

Fixes https://github.com/pybricks/support/issues/1189

Since we added the use_gyro() method to turn the gyro on and off, we no
longer need a separate GyroDriveBase class.

It was placed in legodev_pup to avoid the need for an extra process. But since it isn't enabled on Move Hub anyway, it makes more sense to place it where it belongs.

This makes the main uart thread cleaner. Instead of resetting one thread with PT_INIT midway from another thread, organize them as follows:

- spawn synchronization, exit on error
- run send + receive in parallel until no data

This in turn can be spawned from the higher level process on platforms that support device detection, or just called indefinitely on platforms where uart mode is always active.

Instead of using numerous goto's, we can return an error like we do everywhere in pbio. In this case bind it to the device for easy access.

There were mixes of port_data, data, and dev for the same types, which were not related to the actual data variables. Things like data->pt where very different from data_pt.

All pbdrv_legodev_pup_uart_dev_t are local to this file, so call them ludev for short.

- There were two different variables both named prev_type_id used for different things.
- Now uses one child protothread for the dcm and the uart sensor since they run at different times.
- Moved where the affirmative ids are kept.

The device connection manager and the uart device driver never need to
run at the same time, so drive them from a single process.

This reduces complexity and code size, and also reduces the time needed
to handle devices disconnecting since there are no longer multiple
timeouts to wait on.

It also separates the pup_uart code further so it can run on other
devices like EV3 which don't have the same connection manager.

This way we know it is initialized when pbdrv_init completes.