Wait for handshake to finish to allow for clean disconnect when stopping reconnect logic #614
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There was a very rare race where we could disconnect in the middle of the handshake if we had just finished connecting to the ESP which would prevent the disconnect request from being seen by the ESP
To fix this we now only cancel without the lock if we are still establishing the connection, otherwise try to wait for the handshake to finish so we can cleanly disconnect.
This didn't cause any visible issues besides a log message on the esp