Improve BLE reliability

[sethterashima]

Description

Improve BLE connection reliability:

• Increase timeouts for BLE dialer and listener
• Retry initial connection on non-fatal errors until context expires
• Tweak scanning interval to reflect BLE advertisement parameters

Future improvements (deferred to get the existing improvements merged sooner):

• Retry connection using client MAC address instead of scanning
• Optimize scanning interval
• Adjust timeouts using caller context

Fixes #253

Type of change

Please select all options that apply to this change:

• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• Bug fix (non-breaking change which fixes an issue)
• Documentation update

Checklist:

Confirm you have completed the following steps:

• My code follows the style of this project.
• I have performed a self-review of my code.
• I have made corresponding updates to the documentation.
• I have added/updated unit tests to cover my changes.

[iainwhyte]

tested an RPi4 with built in Bluetooth today to a 2021 M3 and could not fault it. about 25 commands, no timeouts. This seems heaps better. It also seems faster as well.

[wimaha]

Tested on RPI3+ with built in bluetooth and it is working very good! Thank you for your effort.

[BogdanDIA]

I wrote this in #253 but since it is closed, I also write it here.

Tested the new code with several adapters I have. It works a bit faster for BT 5.0 adapter but it broke the BT4.x support. That is due to using the Extended Adv features that were introduced starting with BT 5.0 and not known for the BT4.2 adapter I have.

vehicle-command/pkg/connector/ble/device_linux.go

var scanParams = cmd.LESetScanParameters{
LEScanType: 1, // Active scanning
LEScanInterval: 0x10, // 10ms
LEScanWindow: 0x10, // 10ms
OwnAddressType: 0, // Static
ScanningFilterPolicy: 2, // Basic filtered <- this should be 0 for Basic Filtered.
}

Here are the possible values:
0x00 Basic unfiltered scanning filter policy
0x01 Basic filtered scanning filter policy
0x02 Extended unfiltered scanning filter policy <- added in 5.0
0x03 Extended filtered scanning filter policy <- added in 5.0

If it is really needed to use the extended features from BT5.x it can be possible to request the local adapter BT version in the beginning of the handshake so the BLE can use ScanningFilterPolicy: 0 when the BT version is below 5.0. I see go-ble package has the function ReadLocalVersionInformation available.