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fix formatting

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klaudiusz223 2024-01-26 03:48:26 +01:00
parent 6705f3b898
commit 0c0f2bf58e
2 changed files with 124 additions and 127 deletions
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238
esphome/components/time_based_tilt/time_based_tilt_cover.cpp
View file

@ -23,7 +23,7 @@ void TimeBasedTiltCover::dump_config() {
ESP_LOGCONFIG(TAG, " Recalibration time: %.3fs", this->recalibration_time_ / 1e3f);
}
void TimeBasedTiltCover::setup() {
if ( this->tilt_close_duration_ == 0 || this->tilt_open_duration_ == 0 ) {
if (this->tilt_close_duration_ == 0 || this->tilt_open_duration_ == 0) {
this->tilt_close_duration_ = 0;
this->tilt_open_duration_ = 0;
}
@ -60,25 +60,26 @@ bool TimeBasedTiltCover::is_at_target_tilt_() const {
}
void TimeBasedTiltCover::loop() {
if ( this->fsm_state_ == STATE_IDLE && this->target_position_ == TARGET_NONE && this->target_tilt_ == TARGET_NONE ) return;
if (this->fsm_state_ == STATE_IDLE && this->target_position_ == TARGET_NONE && this->target_tilt_ == TARGET_NONE)
return;
const uint32_t now = millis();
// recalibrating in extreme postions
if ( this->fsm_state_ == STATE_CALIBRATING ) {
if ( now - this->last_recompute_time_ >= this->recalibration_time_ ) {
if (this->fsm_state_ == STATE_CALIBRATING) {
if (now - this->last_recompute_time_ >= this->recalibration_time_) {
this->fsm_state_ = STATE_STOPPING;
}
return;
}
// STOPPING - determining the direction of the last movement and the stopping time. Needed to support interlocking
if ( this->fsm_state_ == STATE_STOPPING ) {
if (this->fsm_state_ == STATE_STOPPING) {
this->stop_trigger_->trigger();
if (this->current_operation != COVER_OPERATION_IDLE){
if (this->current_operation != COVER_OPERATION_IDLE) {
this->interlocked_time = millis();
this->interlocked_direction = this->current_operation == COVER_OPERATION_CLOSING ? COVER_OPERATION_OPENING : COVER_OPERATION_CLOSING;
this->interlocked_direction =
this->current_operation == COVER_OPERATION_CLOSING ? COVER_OPERATION_OPENING : COVER_OPERATION_CLOSING;
} else {
this->interlocked_direction = COVER_OPERATION_IDLE;
}
@ -90,16 +91,16 @@ void TimeBasedTiltCover::loop() {
}
// if the cover is not moving, check whether the new targets are set and if they are, compute move direction
if ( this->fsm_state_ == STATE_IDLE && (this->target_position_ != TARGET_NONE || this->target_tilt_ != TARGET_NONE) ) {
if (this->target_position_ != TARGET_NONE ) {
this->current_operation = this->compute_direction(this->target_position_,this->position);
if (this->fsm_state_ == STATE_IDLE && (this->target_position_ != TARGET_NONE || this->target_tilt_ != TARGET_NONE)) {
if (this->target_position_ != TARGET_NONE) {
this->current_operation = this->compute_direction(this->target_position_, this->position);
} else {
this->current_operation = this->compute_direction(this->target_tilt_,this->tilt);
this->current_operation = this->compute_direction(this->target_tilt_, this->tilt);
}
// interlocking support
if ( this->current_operation == this->interlocked_direction
&& now - this->interlocked_time < this->interlock_wait_time_ ) return;
if (this->current_operation == this->interlocked_direction &&
now - this->interlocked_time < this->interlock_wait_time_)
return;
Trigger<> *trig = this->current_operation == COVER_OPERATION_CLOSING ? this->close_trigger_ : this->open_trigger_;
@ -110,43 +111,44 @@ void TimeBasedTiltCover::loop() {
return;
}
//moving state
if ( this->fsm_state_ == STATE_MOVING ) {
// moving state
if (this->fsm_state_ == STATE_MOVING) {
auto travel_time = now - this->last_recompute_time_;
this->last_recompute_time_ = now;
float dir_factor = this->current_operation == COVER_OPERATION_CLOSING ? -1.0 : 1.0 ;
auto inertia_time = this->current_operation == COVER_OPERATION_CLOSING ? this->inertia_close_time_ : this->inertia_open_time_ ;
float dir_factor = this->current_operation == COVER_OPERATION_CLOSING ? -1.0 : 1.0;
auto inertia_time =
this->current_operation == COVER_OPERATION_CLOSING ? this->inertia_close_time_ : this->inertia_open_time_;
if ( inertia_time > 0 && this->inertia * dir_factor < 0.5f ) { // inertia before movement
if (inertia_time > 0 && this->inertia * dir_factor < 0.5f) { // inertia before movement
auto inertia_step = dir_factor * travel_time / inertia_time;
this->inertia += inertia_step;
auto rest = this->inertia - clamp( this->inertia , -0.5f, 0.5f);
this->inertia = clamp( this->inertia, -0.5f, 0.5f);
auto rest = this->inertia - clamp(this->inertia, -0.5f, 0.5f);
this->inertia = clamp(this->inertia, -0.5f, 0.5f);
if ( ! rest ) return; // the movement has not yet actually started
travel_time = dir_factor * rest * inertia_time; // actual movement time taking inertia into account
if (!rest)
return; // the movement has not yet actually started
travel_time = dir_factor * rest * inertia_time; // actual movement time taking inertia into account
}
auto tilt_time = this->current_operation == COVER_OPERATION_CLOSING ? this->tilt_close_duration_ : this->tilt_open_duration_;
auto tilt_time =
this->current_operation == COVER_OPERATION_CLOSING ? this->tilt_close_duration_ : this->tilt_open_duration_;
if ( tilt_time > 0 && ( this->tilt - 0.5f ) * dir_factor < 0.5f ) { // tilting before movement
auto tilt_step = dir_factor * travel_time / tilt_time;
if (tilt_time > 0 && (this->tilt - 0.5f) * dir_factor < 0.5f) { // tilting before movement
auto tilt_step = dir_factor * travel_time / tilt_time;
this->tilt += tilt_step;
auto rest = this->tilt - 0.5f - clamp( this->tilt - 0.5f , -0.5f, 0.5f);
this->tilt = clamp( this->tilt , 0.0f, 1.0f);
auto rest = this->tilt - 0.5f - clamp(this->tilt - 0.5f, -0.5f, 0.5f);
this->tilt = clamp(this->tilt, 0.0f, 1.0f);
if (this->target_position_ == TARGET_NONE && this->is_at_target_tilt_()) { // only tilting w/o position change
if (this->target_position_ == TARGET_NONE && this->is_at_target_tilt_()) { // only tilting w/o position change
this->last_recompute_time_ = now;
this->target_tilt_ = TARGET_NONE;
this->last_publish_time_= now;
this->last_publish_time_ = now;
// If the cover is in extreme positions, run recalibration
if ( this->recalibration_time_ > 0 &&
(((this->position == COVER_CLOSED && (tilt_time == 0 || this->tilt == COVER_CLOSED)) ||
(this->position == COVER_OPEN && (tilt_time == 0 || this->tilt == COVER_OPEN)))))
{
if (this->recalibration_time_ > 0 &&
(((this->position == COVER_CLOSED && (tilt_time == 0 || this->tilt == COVER_CLOSED)) ||
(this->position == COVER_OPEN && (tilt_time == 0 || this->tilt == COVER_OPEN))))) {
this->fsm_state_ = STATE_CALIBRATING;
this->publish_state(false);
} else {
@ -156,34 +158,34 @@ void TimeBasedTiltCover::loop() {
return; // only tilting w/o position change so no need to recompute position
}
if ( now - this->last_publish_time_ > (( tilt_time / 5 ) > 1000 ? 1000 : ( tilt_time / 5 )) ) {
if (now - this->last_publish_time_ > ((tilt_time / 5) > 1000 ? 1000 : (tilt_time / 5))) {
this->publish_state(false);
this->last_publish_time_= now;
this->last_publish_time_ = now;
}
if ( ! rest ) return; // the movement has not yet actually started
if (!rest)
return; // the movement has not yet actually started
travel_time = dir_factor * rest * tilt_time; // actual movement time taking tilt into account
travel_time = dir_factor * rest * tilt_time; // actual movement time taking tilt into account
}
auto move_time = this->current_operation == COVER_OPERATION_CLOSING ? this->close_duration_ : this->open_duration_ ;
auto move_time = this->current_operation == COVER_OPERATION_CLOSING ? this->close_duration_ : this->open_duration_;
if ( move_time > 0 && ( this->position - 0.5f ) * dir_factor < 0.5f ) {
auto move_step = dir_factor * travel_time / move_time;
if (move_time > 0 && (this->position - 0.5f) * dir_factor < 0.5f) {
auto move_step = dir_factor * travel_time / move_time;
this->position += move_step;
this->position = clamp( this->position , 0.0f, 1.0f);
this->position = clamp(this->position, 0.0f, 1.0f);
}
if (this->is_at_target_position_()) {
this->last_recompute_time_ = now;
this->target_position_ = TARGET_NONE;
this->last_publish_time_= now;
this->last_publish_time_ = now;
// If the cover is in extreme positions, run recalibration
if ( this->recalibration_time_ > 0 &&
(((this->position == COVER_CLOSED && (tilt_time == 0 || this->tilt == COVER_CLOSED)) ||
(this->position == COVER_OPEN && (tilt_time == 0 || this->tilt == COVER_OPEN)))))
{
if (this->recalibration_time_ > 0 &&
(((this->position == COVER_CLOSED && (tilt_time == 0 || this->tilt == COVER_CLOSED)) ||
(this->position == COVER_OPEN && (tilt_time == 0 || this->tilt == COVER_OPEN))))) {
this->fsm_state_ = STATE_CALIBRATING;
this->publish_state(false);
} else {
@ -191,19 +193,18 @@ void TimeBasedTiltCover::loop() {
}
}
if ( now - this->last_publish_time_ > 1000 ) {
this->publish_state(false);
this->last_publish_time_= now;
if (now - this->last_publish_time_ > 1000) {
this->publish_state(false);
this->last_publish_time_ = now;
}
}
}
float TimeBasedTiltCover::get_setup_priority() const { return setup_priority::DATA; }
CoverTraits TimeBasedTiltCover::get_traits() {
auto traits = CoverTraits();
traits.set_supports_position(true);
traits.set_supports_tilt(this->tilt_close_duration_ !=0 && this->tilt_open_duration_ !=0);
traits.set_supports_tilt(this->tilt_close_duration_ != 0 && this->tilt_open_duration_ != 0);
traits.set_supports_toggle(true);
traits.set_supports_stop(true);
traits.set_is_assumed_state(this->assumed_state_);
@ -212,82 +213,81 @@ CoverTraits TimeBasedTiltCover::get_traits() {
void TimeBasedTiltCover::control(const CoverCall &call) {
if (call.get_stop()) {
this->target_position_ = TARGET_NONE;
this->target_tilt_= TARGET_NONE;
this->target_tilt_ = TARGET_NONE;
this->fsm_state_ = STATE_STOPPING;
return;
}
if (call.get_position().has_value() && call.get_tilt().has_value() ) {
auto pos = *call.get_position();
auto til = *call.get_tilt();
if (call.get_position().has_value() && call.get_tilt().has_value()) {
auto pos = *call.get_position();
auto til = *call.get_tilt();
if (this->round_position(pos) == this->round_position(this->position))
pos = TARGET_NONE;
if (this->round_position(til) == this->round_position(this->tilt))
til = TARGET_NONE;
if (this->round_position(pos) == this->round_position(this->position))
pos = TARGET_NONE;
if (this->round_position(til) == this->round_position(this->tilt))
til = TARGET_NONE;
this->target_position_ = pos;
this->target_tilt_ = til;
this->target_position_ = pos;
this->target_tilt_ = til;
if (this->fsm_state_ == STATE_MOVING) {
auto direction = COVER_OPERATION_IDLE;
if ( this->target_position_ != TARGET_NONE && this->target_position_ != this->position) {
direction = this->compute_direction(this->target_position_ , this->position );
} else if ( this->target_tilt_ != TARGET_NONE && this->target_tilt_ != this->tilt) {
direction = this->compute_direction( this->target_tilt_ , this->tilt );
}
if (direction != this->current_operation )
{
this->fsm_state_ = STATE_STOPPING;
}
if (this->fsm_state_ == STATE_MOVING) {
auto direction = COVER_OPERATION_IDLE;
if (this->target_position_ != TARGET_NONE && this->target_position_ != this->position) {
direction = this->compute_direction(this->target_position_, this->position);
} else if (this->target_tilt_ != TARGET_NONE && this->target_tilt_ != this->tilt) {
direction = this->compute_direction(this->target_tilt_, this->tilt);
}
if (direction != this->current_operation) {
this->fsm_state_ = STATE_STOPPING;
}
}
} else if (call.get_position().has_value()) {
auto pos = *call.get_position();
auto pos = *call.get_position();
if ( pos == COVER_CLOSED && this->position == COVER_CLOSED && this->tilt != COVER_CLOSED ) {
pos = TARGET_NONE;
this->target_tilt_ = COVER_CLOSED;
} else if ( pos == COVER_OPEN && this->position == COVER_OPEN && this->tilt != COVER_OPEN ) {
pos = TARGET_NONE;
this->target_tilt_ = COVER_OPEN;
} else if ( this->round_position(pos) == this->round_position(this->position) ) {
pos = TARGET_NONE;
}
if (pos == COVER_CLOSED && this->position == COVER_CLOSED && this->tilt != COVER_CLOSED) {
pos = TARGET_NONE;
this->target_tilt_ = COVER_CLOSED;
} else if (pos == COVER_OPEN && this->position == COVER_OPEN && this->tilt != COVER_OPEN) {
pos = TARGET_NONE;
this->target_tilt_ = COVER_OPEN;
} else if (this->round_position(pos) == this->round_position(this->position)) {
pos = TARGET_NONE;
}
this->target_position_ = pos;
this->target_position_ = pos;
if (this->fsm_state_ == STATE_MOVING) {
auto direction = COVER_OPERATION_IDLE;
if ( this->target_position_ != TARGET_NONE && this->target_position_ != this->position) {
direction = this->compute_direction(this->target_position_ , this->position );
this->target_tilt_ = TARGET_NONE; // unset previous target tilt
} else if ( this->target_tilt_ != TARGET_NONE && this->target_tilt_ != this->tilt) {
direction = this->compute_direction( this->target_tilt_ , this->tilt );
}
if (direction != this->current_operation ) {
this->fsm_state_ = STATE_STOPPING;
}
if (this->fsm_state_ == STATE_MOVING) {
auto direction = COVER_OPERATION_IDLE;
if (this->target_position_ != TARGET_NONE && this->target_position_ != this->position) {
direction = this->compute_direction(this->target_position_, this->position);
this->target_tilt_ = TARGET_NONE; // unset previous target tilt
} else if (this->target_tilt_ != TARGET_NONE && this->target_tilt_ != this->tilt) {
direction = this->compute_direction(this->target_tilt_, this->tilt);
}
} else if (call.get_tilt().has_value()) {
auto til = *call.get_tilt();
if ( this->round_position(til) == this->round_position(this->tilt) ) {
til = TARGET_NONE;
}
this->target_tilt_ = til;
if (this->fsm_state_ == STATE_MOVING) {
auto direction = COVER_OPERATION_IDLE;
if ( this->target_tilt_ != TARGET_NONE && this->target_tilt_ != this->tilt) {
direction = this->compute_direction( this->target_tilt_ , this->tilt );
this->target_position_ = TARGET_NONE;
}
if (direction != this->current_operation ) {
this->fsm_state_ = STATE_STOPPING;
}
if (direction != this->current_operation) {
this->fsm_state_ = STATE_STOPPING;
}
}
} else if (call.get_tilt().has_value()) {
auto til = *call.get_tilt();
if (this->round_position(til) == this->round_position(this->tilt)) {
til = TARGET_NONE;
}
this->target_tilt_ = til;
if (this->fsm_state_ == STATE_MOVING) {
auto direction = COVER_OPERATION_IDLE;
if (this->target_tilt_ != TARGET_NONE && this->target_tilt_ != this->tilt) {
direction = this->compute_direction(this->target_tilt_, this->tilt);
this->target_position_ = TARGET_NONE;
}
if (direction != this->current_operation) {
this->fsm_state_ = STATE_STOPPING;
}
}
}
if (call.get_toggle().has_value()) {
@ -296,11 +296,11 @@ void TimeBasedTiltCover::control(const CoverCall &call) {
this->target_position_ = TARGET_NONE;
this->target_tilt_ = TARGET_NONE;
} else {
if ( this->position == COVER_CLOSED && this->tilt == COVER_CLOSED ) {
if (this->position == COVER_CLOSED && this->tilt == COVER_CLOSED) {
this->target_position_ = COVER_OPEN;
} else if ( this->position == COVER_OPEN && this->tilt == COVER_OPEN ) {
} else if (this->position == COVER_OPEN && this->tilt == COVER_OPEN) {
this->target_position_ = COVER_CLOSED;
} else if ( this->last_operation_ == COVER_OPERATION_CLOSING ) {
} else if (this->last_operation_ == COVER_OPERATION_CLOSING) {
if (this->position != COVER_OPEN) {
this->target_position_ = COVER_OPEN;
} else {

13
esphome/components/time_based_tilt/time_based_tilt_cover.h
View file

@ -25,8 +25,10 @@ class TimeBasedTiltCover : public cover::Cover, public Component {
void set_recalibration_time(uint32_t recalibration_time) { this->recalibration_time_ = recalibration_time; }
void set_inertia_open_time(uint32_t inertia_time) { this->inertia_open_time_ = inertia_time; }
void set_inertia_close_time(uint32_t inertia_time) { this->inertia_close_time_ = inertia_time; }
cover::CoverOperation compute_direction(float target, float current) { return target < current ? cover::COVER_OPERATION_CLOSING : cover::COVER_OPERATION_OPENING ; };
float round_position(float pos) { return round(100 * pos)/100; };
cover::CoverOperation compute_direction(float target, float current) {
return target < current ? cover::COVER_OPERATION_CLOSING : cover::COVER_OPERATION_OPENING;
};
float round_position(float pos) { return round(100 * pos) / 100; };
cover::CoverTraits get_traits() override;
void set_assumed_state(bool value) { this->assumed_state_ = value; }
@ -51,12 +53,7 @@ class TimeBasedTiltCover : public cover::Cover, public Component {
uint32_t inertia_close_time_;
const static float TARGET_NONE;
enum State : uint8_t {
STATE_IDLE,
STATE_MOVING,
STATE_STOPPING,
STATE_CALIBRATING
};
enum State : uint8_t { STATE_IDLE, STATE_MOVING, STATE_STOPPING, STATE_CALIBRATING };
uint32_t last_recompute_time_{0};
uint32_t last_publish_time_{0};