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

Change how we ensure the USB endpoints are in a good state when connecting
to a device. Instead of resetting the device, which is not supported on all
platforms, we now clear the halt condition on both endpoints.

We were doing the reset to ensure that the even/odd data toggle state
was correct. The reset, if supported, would completely reset the
connection and re-enumerate the device, which is more that we need.
On Windows, resetting is not supported and libusb would poke all endpoints
like this as a best-effort approximation of a reset. So now, the code
reflects what is actually important and will be helpful if we switch to
something other than pyusb in the future.

Author: dlech

pybricksdev/connections/pybricks.py

@@ -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
@@ -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