Create feedback cover component (#3253)

CODEOWNERS

@@ -73,6 +73,7 @@ esphome/components/esp8266/* @esphome/core
 esphome/components/exposure_notifications/* @OttoWinter
 esphome/components/ezo/* @ssieb
 esphome/components/fastled_base/* @OttoWinter
+esphome/components/feedback/* @ianchi
 esphome/components/fingerprint_grow/* @OnFreund @loongyh
 esphome/components/globals/* @esphome/core
 esphome/components/gpio/* @esphome/core

esphome/components/feedback/__init__.py

@@ -0,0 +1 @@
+CODEOWNERS = ["@ianchi"]

esphome/components/feedback/cover.py

@@ -0,0 +1,157 @@
+import esphome.codegen as cg
+import esphome.config_validation as cv
+from esphome import automation
+from esphome.components import binary_sensor, cover
+from esphome.const import (
+    CONF_ASSUMED_STATE,
+    CONF_CLOSE_ACTION,
+    CONF_CLOSE_DURATION,
+    CONF_CLOSE_ENDSTOP,
+    CONF_ID,
+    CONF_OPEN_ACTION,
+    CONF_OPEN_DURATION,
+    CONF_OPEN_ENDSTOP,
+    CONF_STOP_ACTION,
+    CONF_MAX_DURATION,
+    CONF_UPDATE_INTERVAL,
+)
+
+CONF_OPEN_SENSOR = "open_sensor"
+CONF_CLOSE_SENSOR = "close_sensor"
+CONF_OPEN_OBSTACLE_SENSOR = "open_obstacle_sensor"
+CONF_CLOSE_OBSTACLE_SENSOR = "close_obstacle_sensor"
+CONF_HAS_BUILT_IN_ENDSTOP = "has_built_in_endstop"
+CONF_INFER_ENDSTOP_FROM_MOVEMENT = "infer_endstop_from_movement"
+CONF_DIRECTION_CHANGE_WAIT_TIME = "direction_change_wait_time"
+CONF_ACCELERATION_WAIT_TIME = "acceleration_wait_time"
+CONF_OBSTACLE_ROLLBACK = "obstacle_rollback"
+
+endstop_ns = cg.esphome_ns.namespace("feedback")
+FeedbackCover = endstop_ns.class_("FeedbackCover", cover.Cover, cg.Component)
+
+
+def validate_infer_endstop(config):
+    if config[CONF_INFER_ENDSTOP_FROM_MOVEMENT] is True:
+        if config[CONF_HAS_BUILT_IN_ENDSTOP] is False:
+            raise cv.Invalid(
+                f"{CONF_INFER_ENDSTOP_FROM_MOVEMENT} can only be set if {CONF_HAS_BUILT_IN_ENDSTOP} is also set"
+            )
+
+        if CONF_OPEN_SENSOR not in config:
+            raise cv.Invalid(
+                f"{CONF_INFER_ENDSTOP_FROM_MOVEMENT} cannot be set if movement sensors are not supplied"
+            )
+
+        if CONF_OPEN_ENDSTOP in config or CONF_CLOSE_ENDSTOP in config:
+            raise cv.Invalid(
+                f"{CONF_INFER_ENDSTOP_FROM_MOVEMENT} cannot be set if endstop sensors are supplied"
+            )
+
+    return config
+
+
+CONFIG_FEEDBACK_COVER_BASE_SCHEMA = cover.COVER_SCHEMA.extend(
+    {
+        cv.GenerateID(): cv.declare_id(FeedbackCover),
+        cv.Required(CONF_STOP_ACTION): automation.validate_automation(single=True),
+        cv.Required(CONF_OPEN_ACTION): automation.validate_automation(single=True),
+        cv.Required(CONF_OPEN_DURATION): cv.positive_time_period_milliseconds,
+        cv.Optional(CONF_OPEN_ENDSTOP): cv.use_id(binary_sensor.BinarySensor),
+        cv.Optional(CONF_OPEN_SENSOR): cv.use_id(binary_sensor.BinarySensor),
+        cv.Optional(CONF_OPEN_OBSTACLE_SENSOR): cv.use_id(binary_sensor.BinarySensor),
+        cv.Required(CONF_CLOSE_ACTION): automation.validate_automation(single=True),
+        cv.Required(CONF_CLOSE_DURATION): cv.positive_time_period_milliseconds,
+        cv.Optional(CONF_CLOSE_ENDSTOP): cv.use_id(binary_sensor.BinarySensor),
+        cv.Optional(CONF_CLOSE_SENSOR): cv.use_id(binary_sensor.BinarySensor),
+        cv.Optional(CONF_CLOSE_OBSTACLE_SENSOR): cv.use_id(binary_sensor.BinarySensor),
+        cv.Optional(CONF_MAX_DURATION): cv.positive_time_period_milliseconds,
+        cv.Optional(CONF_HAS_BUILT_IN_ENDSTOP, default=False): cv.boolean,
+        cv.Optional(CONF_ASSUMED_STATE): cv.boolean,
+        cv.Optional(
+            CONF_UPDATE_INTERVAL, "1000ms"
+        ): cv.positive_time_period_milliseconds,
+        cv.Optional(CONF_INFER_ENDSTOP_FROM_MOVEMENT, False): cv.boolean,
+        cv.Optional(
+            CONF_DIRECTION_CHANGE_WAIT_TIME
+        ): cv.positive_time_period_milliseconds,
+        cv.Optional(
+            CONF_ACCELERATION_WAIT_TIME, "0s"
+        ): cv.positive_time_period_milliseconds,
+        cv.Optional(CONF_OBSTACLE_ROLLBACK, default="10%"): cv.percentage,
+    },
+).extend(cv.COMPONENT_SCHEMA)
+
+
+CONFIG_SCHEMA = cv.All(
+    CONFIG_FEEDBACK_COVER_BASE_SCHEMA,
+    cv.has_none_or_all_keys(CONF_OPEN_SENSOR, CONF_CLOSE_SENSOR),
+    validate_infer_endstop,
+)
+
+
+async def to_code(config):
+    var = cg.new_Pvariable(config[CONF_ID])
+    await cg.register_component(var, config)
+    await cover.register_cover(var, config)
+
+    # STOP
+    await automation.build_automation(
+        var.get_stop_trigger(), [], config[CONF_STOP_ACTION]
+    )
+
+    # OPEN
+    await automation.build_automation(
+        var.get_open_trigger(), [], config[CONF_OPEN_ACTION]
+    )
+    cg.add(var.set_open_duration(config[CONF_OPEN_DURATION]))
+    if CONF_OPEN_ENDSTOP in config:
+        bin = await cg.get_variable(config[CONF_OPEN_ENDSTOP])
+        cg.add(var.set_open_endstop(bin))
+    if CONF_OPEN_SENSOR in config:
+        bin = await cg.get_variable(config[CONF_OPEN_SENSOR])
+        cg.add(var.set_open_sensor(bin))
+    if CONF_OPEN_OBSTACLE_SENSOR in config:
+        bin = await cg.get_variable(config[CONF_OPEN_OBSTACLE_SENSOR])
+        cg.add(var.set_open_obstacle_sensor(bin))
+
+    # CLOSE
+    await automation.build_automation(
+        var.get_close_trigger(), [], config[CONF_CLOSE_ACTION]
+    )
+    cg.add(var.set_close_duration(config[CONF_CLOSE_DURATION]))
+    if CONF_CLOSE_ENDSTOP in config:
+        bin = await cg.get_variable(config[CONF_CLOSE_ENDSTOP])
+        cg.add(var.set_close_endstop(bin))
+    if CONF_CLOSE_SENSOR in config:
+        bin = await cg.get_variable(config[CONF_CLOSE_SENSOR])
+        cg.add(var.set_close_sensor(bin))
+    if CONF_CLOSE_OBSTACLE_SENSOR in config:
+        bin = await cg.get_variable(config[CONF_CLOSE_OBSTACLE_SENSOR])
+        cg.add(var.set_close_obstacle_sensor(bin))
+
+    # OTHER
+    if CONF_MAX_DURATION in config:
+        cg.add(var.set_max_duration(config[CONF_MAX_DURATION]))
+
+    cg.add(var.set_has_built_in_endstop(config[CONF_HAS_BUILT_IN_ENDSTOP]))
+
+    if CONF_ASSUMED_STATE in config:
+        cg.add(var.set_assumed_state(config[CONF_ASSUMED_STATE]))
+    else:
+        cg.add(
+            var.set_assumed_state(
+                not (
+                    (CONF_CLOSE_ENDSTOP in config and CONF_OPEN_ENDSTOP in config)
+                    or config[CONF_INFER_ENDSTOP_FROM_MOVEMENT]
+                )
+            )
+        )
+
+    cg.add(var.set_update_interval(config[CONF_UPDATE_INTERVAL]))
+    cg.add(var.set_infer_endstop(config[CONF_INFER_ENDSTOP_FROM_MOVEMENT]))
+    if CONF_DIRECTION_CHANGE_WAIT_TIME in config:
+        cg.add(
+            var.set_direction_change_waittime(config[CONF_DIRECTION_CHANGE_WAIT_TIME])
+        )
+    cg.add(var.set_acceleration_wait_time(config[CONF_ACCELERATION_WAIT_TIME]))
+    cg.add(var.set_obstacle_rollback(config[CONF_OBSTACLE_ROLLBACK]))

esphome/components/feedback/feedback_cover.cpp

@@ -0,0 +1,445 @@
+#include "feedback_cover.h"
+#include "esphome/core/hal.h"
+#include "esphome/core/log.h"
+
+namespace esphome {
+namespace feedback {
+
+static const char *const TAG = "feedback.cover";
+
+using namespace esphome::cover;
+
+void FeedbackCover::setup() {
+  auto restore = this->restore_state_();
+
+  if (restore.has_value()) {
+    restore->apply(this);
+  } else {
+    // if no other information, assume half open
+    this->position = 0.5f;
+  }
+  this->current_operation = COVER_OPERATION_IDLE;
+
+#ifdef USE_BINARY_SENSOR
+  // if available, get position from endstop sensors
+  if (this->open_endstop_ != nullptr && this->open_endstop_->state) {
+    this->position = COVER_OPEN;
+  } else if (this->close_endstop_ != nullptr && this->close_endstop_->state) {
+    this->position = COVER_CLOSED;
+  }
+
+  // if available, get moving state from sensors
+  if (this->open_feedback_ != nullptr && this->open_feedback_->state) {
+    this->current_operation = COVER_OPERATION_OPENING;
+  } else if (this->close_feedback_ != nullptr && this->close_feedback_->state) {
+    this->current_operation = COVER_OPERATION_CLOSING;
+  }
+#endif
+
+  this->last_recompute_time_ = this->start_dir_time_ = millis();
+}
+
+CoverTraits FeedbackCover::get_traits() {
+  auto traits = CoverTraits();
+  traits.set_supports_position(true);
+  traits.set_supports_toggle(true);
+  traits.set_is_assumed_state(this->assumed_state_);
+  return traits;
+}
+
+void FeedbackCover::dump_config() {
+  LOG_COVER("", "Endstop Cover", this);
+  ESP_LOGCONFIG(TAG, "  Open Duration: %.1fs", this->open_duration_ / 1e3f);
+#ifdef USE_BINARY_SENSOR
+  LOG_BINARY_SENSOR("  ", "Open Endstop", this->open_endstop_);
+  LOG_BINARY_SENSOR("  ", "Open Feedback", this->open_feedback_);
+  LOG_BINARY_SENSOR("  ", "Open Obstacle", this->open_obstacle_);
+#endif
+  ESP_LOGCONFIG(TAG, "  Close Duration: %.1fs", this->close_duration_ / 1e3f);
+#ifdef USE_BINARY_SENSOR
+  LOG_BINARY_SENSOR("  ", "Close Endstop", this->close_endstop_);
+  LOG_BINARY_SENSOR("  ", "Close Feedback", this->close_feedback_);
+  LOG_BINARY_SENSOR("  ", "Close Obstacle", this->close_obstacle_);
+#endif
+  if (this->has_built_in_endstop_) {
+    ESP_LOGCONFIG(TAG, "  Has builtin endstop: YES");
+  }
+  if (this->infer_endstop_) {
+    ESP_LOGCONFIG(TAG, "  Infer endstop from movement: YES");
+  }
+  if (this->max_duration_ < UINT32_MAX) {
+    ESP_LOGCONFIG(TAG, "  Max Duration: %.1fs", this->max_duration_ / 1e3f);
+  }
+  if (this->direction_change_waittime_.has_value()) {
+    ESP_LOGCONFIG(TAG, "  Direction change wait time: %.1fs", *this->direction_change_waittime_ / 1e3f);
+  }
+  if (this->acceleration_wait_time_) {
+    ESP_LOGCONFIG(TAG, "  Acceleration wait time: %.1fs", this->acceleration_wait_time_ / 1e3f);
+  }
+#ifdef USE_BINARY_SENSOR
+  if (this->obstacle_rollback_ && (this->open_obstacle_ != nullptr || this->close_obstacle_ != nullptr)) {
+    ESP_LOGCONFIG(TAG, "  Obstacle rollback: %.1f%%", this->obstacle_rollback_ * 100);
+  }
+#endif
+}
+
+#ifdef USE_BINARY_SENSOR
+
+void FeedbackCover::set_open_sensor(binary_sensor::BinarySensor *open_feedback) {
+  this->open_feedback_ = open_feedback;
+
+  // setup callbacks to react to sensor changes
+  open_feedback->add_on_state_callback([this](bool state) {
+    ESP_LOGD(TAG, "'%s' - Open feedback '%s'.", this->name_.c_str(), state ? "STARTED" : "ENDED");
+    this->recompute_position_();
+    if (!state && this->infer_endstop_ && this->current_trigger_operation_ == COVER_OPERATION_OPENING) {
+      this->endstop_reached_(true);
+    }
+    this->set_current_operation_(state ? COVER_OPERATION_OPENING : COVER_OPERATION_IDLE, false);
+  });
+}
+
+void FeedbackCover::set_close_sensor(binary_sensor::BinarySensor *close_feedback) {
+  this->close_feedback_ = close_feedback;
+
+  close_feedback->add_on_state_callback([this](bool state) {
+    ESP_LOGD(TAG, "'%s' - Close feedback '%s'.", this->name_.c_str(), state ? "STARTED" : "ENDED");
+    this->recompute_position_();
+    if (!state && this->infer_endstop_ && this->current_trigger_operation_ == COVER_OPERATION_CLOSING) {
+      this->endstop_reached_(false);
+    }
+
+    this->set_current_operation_(state ? COVER_OPERATION_CLOSING : COVER_OPERATION_IDLE, false);
+  });
+}
+
+void FeedbackCover::set_open_endstop(binary_sensor::BinarySensor *open_endstop) {
+  this->open_endstop_ = open_endstop;
+  open_endstop->add_on_state_callback([this](bool state) {
+    if (state) {
+      this->endstop_reached_(true);
+    }
+  });
+}
+
+void FeedbackCover::set_close_endstop(binary_sensor::BinarySensor *close_endstop) {
+  this->close_endstop_ = close_endstop;
+  close_endstop->add_on_state_callback([this](bool state) {
+    if (state) {
+      this->endstop_reached_(false);
+    }
+  });
+}
+#endif
+
+void FeedbackCover::endstop_reached_(bool open_endstop) {
+  const uint32_t now = millis();
+
+  this->position = open_endstop ? COVER_OPEN : COVER_CLOSED;
+
+  // only act if endstop activated while moving in the right direction, in case we are coming back
+  // from a position slightly past the endpoint
+  if (this->current_trigger_operation_ == (open_endstop ? COVER_OPERATION_OPENING : COVER_OPERATION_CLOSING)) {
+    float dur = (now - this->start_dir_time_) / 1e3f;
+    ESP_LOGD(TAG, "'%s' - %s endstop reached. Took %.1fs.", this->name_.c_str(), open_endstop ? "Open" : "Close", dur);
+
+    // if there is no external mechanism, stop the cover
+    if (!this->has_built_in_endstop_) {
+      this->start_direction_(COVER_OPERATION_IDLE);
+    } else {
+      this->set_current_operation_(COVER_OPERATION_IDLE, true);
+    }
+  }
+
+  // always sync position and publish
+  this->publish_state();
+  this->last_publish_time_ = now;
+}
+
+void FeedbackCover::set_current_operation_(cover::CoverOperation operation, bool is_triggered) {
+  if (is_triggered) {
+    this->current_trigger_operation_ = operation;
+  }
+
+  // if it is setting the actual operation (not triggered one) or
+  // if we don't have moving sensor, we operate in optimistic mode, assuming actions take place immediately
+  // thus, triggered operation always sets current operation.
+  // otherwise, current operation comes from sensor, and may differ from requested operation
+  // this might be from delays or complex actions, or because the movement was not trigger by the component
+  // but initiated externally
+
+#ifdef USE_BINARY_SENSOR
+  if (!is_triggered || (this->open_feedback_ == nullptr || this->close_feedback_ == nullptr))
+#endif
+  {
+    auto now = millis();
+    this->current_operation = operation;
+    this->start_dir_time_ = this->last_recompute_time_ = now;
+    this->publish_state();
+    this->last_publish_time_ = now;
+  }
+}
+
+#ifdef USE_BINARY_SENSOR
+void FeedbackCover::set_close_obstacle_sensor(binary_sensor::BinarySensor *close_obstacle) {
+  this->close_obstacle_ = close_obstacle;
+
+  close_obstacle->add_on_state_callback([this](bool state) {
+    if (state && (this->current_operation == COVER_OPERATION_CLOSING ||
+                  this->current_trigger_operation_ == COVER_OPERATION_CLOSING)) {
+      ESP_LOGD(TAG, "'%s' - Close obstacle detected.", this->name_.c_str());
+      this->start_direction_(COVER_OPERATION_IDLE);
+
+      if (this->obstacle_rollback_) {
+        this->target_position_ = clamp(this->position + this->obstacle_rollback_, COVER_CLOSED, COVER_OPEN);
+        this->start_direction_(COVER_OPERATION_OPENING);
+      }
+    }
+  });
+}
+
+void FeedbackCover::set_open_obstacle_sensor(binary_sensor::BinarySensor *open_obstacle) {
+  this->open_obstacle_ = open_obstacle;
+
+  open_obstacle->add_on_state_callback([this](bool state) {
+    if (state && (this->current_operation == COVER_OPERATION_OPENING ||
+                  this->current_trigger_operation_ == COVER_OPERATION_OPENING)) {
+      ESP_LOGD(TAG, "'%s' - Open obstacle detected.", this->name_.c_str());
+      this->start_direction_(COVER_OPERATION_IDLE);
+
+      if (this->obstacle_rollback_) {
+        this->target_position_ = clamp(this->position - this->obstacle_rollback_, COVER_CLOSED, COVER_OPEN);
+        this->start_direction_(COVER_OPERATION_CLOSING);
+      }
+    }
+  });
+}
+#endif
+
+void FeedbackCover::loop() {
+  if (this->current_operation == COVER_OPERATION_IDLE)
+    return;
+  const uint32_t now = millis();
+
+  // Recompute position every loop cycle
+  this->recompute_position_();
+
+  // if we initiated the move, check if we reached position or max time
+  // (stoping from endstop sensor is handled in callback)
+  if (this->current_trigger_operation_ != COVER_OPERATION_IDLE) {
+    if (this->is_at_target_()) {
+      if (this->has_built_in_endstop_ &&
+          (this->target_position_ == COVER_OPEN || this->target_position_ == COVER_CLOSED)) {
+        // Don't trigger stop, let the cover stop by itself.
+        this->set_current_operation_(COVER_OPERATION_IDLE, true);
+      } else {
+        this->start_direction_(COVER_OPERATION_IDLE);
+      }
+    } else if (now - this->start_dir_time_ > this->max_duration_) {
+      ESP_LOGD(TAG, "'%s' - Max duration reached. Stopping cover.", this->name_.c_str());
+      this->start_direction_(COVER_OPERATION_IDLE);
+    }
+  }
+
+  // update current position at requested interval, regardless of who started the movement
+  // so that we also update UI if there was an external movement
+  // don´t save intermediate positions
+  if (now - this->last_publish_time_ > this->update_interval_) {
+    this->publish_state(false);
+    this->last_publish_time_ = now;
+  }
+}
+
+void FeedbackCover::control(const CoverCall &call) {
+  // stop action logic
+  if (call.get_stop()) {
+    this->start_direction_(COVER_OPERATION_IDLE);
+  } else if (call.get_toggle().has_value()) {
+    // toggle action logic: OPEN - STOP - CLOSE
+    if (this->current_trigger_operation_ != COVER_OPERATION_IDLE) {
+      this->start_direction_(COVER_OPERATION_IDLE);
+    } else {
+      if (this->position == COVER_CLOSED || this->last_operation_ == COVER_OPERATION_CLOSING) {
+        this->target_position_ = COVER_OPEN;
+        this->start_direction_(COVER_OPERATION_OPENING);
+      } else {
+        this->target_position_ = COVER_CLOSED;
+        this->start_direction_(COVER_OPERATION_CLOSING);
+      }
+    }
+  } else if (call.get_position().has_value()) {
+    // go to position action
+    auto pos = *call.get_position();
+    if (pos == this->position) {
+      // already at target,
+
+      // for covers with built in end stop, if we don´t have sensors we should send the command again
+      // to make sure the assumed state is not wrong
+      if (this->has_built_in_endstop_ && ((pos == COVER_OPEN
+#ifdef USE_BINARY_SENSOR
+                                           && this->open_endstop_ == nullptr
+#endif
+                                           && !this->infer_endstop_) ||
+                                          (pos == COVER_CLOSED
+#ifdef USE_BINARY_SENSOR
+                                           && this->close_endstop_ == nullptr
+#endif
+                                           && !this->infer_endstop_))) {
+        this->target_position_ = pos;
+        this->start_direction_(pos == COVER_CLOSED ? COVER_OPERATION_CLOSING : COVER_OPERATION_OPENING);
+      } else if (this->current_operation != COVER_OPERATION_IDLE ||
+                 this->current_trigger_operation_ != COVER_OPERATION_IDLE) {
+        // if we are moving, stop
+        this->start_direction_(COVER_OPERATION_IDLE);
+      }
+    } else {
+      this->target_position_ = pos;
+      this->start_direction_(pos < this->position ? COVER_OPERATION_CLOSING : COVER_OPERATION_OPENING);
+    }
+  }
+}
+
+void FeedbackCover::stop_prev_trigger_() {
+  if (this->direction_change_waittime_.has_value()) {
+    this->cancel_timeout("direction_change");
+  }
+  if (this->prev_command_trigger_ != nullptr) {
+    this->prev_command_trigger_->stop_action();
+    this->prev_command_trigger_ = nullptr;
+  }
+}
+
+bool FeedbackCover::is_at_target_() const {
+  // if initiated externally, current operation might be different from
+  // operation that was triggered, thus evaluate position against what was asked
+
+  switch (this->current_trigger_operation_) {
+    case COVER_OPERATION_OPENING:
+      return this->position >= this->target_position_;
+    case COVER_OPERATION_CLOSING:
+      return this->position <= this->target_position_;
+    case COVER_OPERATION_IDLE:
+      return this->current_operation == COVER_OPERATION_IDLE;
+    default:
+      return true;
+  }
+}
+void FeedbackCover::start_direction_(CoverOperation dir) {
+  Trigger<> *trig;
+
+#ifdef USE_BINARY_SENSOR
+  binary_sensor::BinarySensor *obstacle{nullptr};
+#endif
+
+  switch (dir) {
+    case COVER_OPERATION_IDLE:
+      trig = this->stop_trigger_;
+      break;
+    case COVER_OPERATION_OPENING:
+      this->last_operation_ = dir;
+      trig = this->open_trigger_;
+#ifdef USE_BINARY_SENSOR
+      obstacle = this->open_obstacle_;
+#endif
+      break;
+    case COVER_OPERATION_CLOSING:
+      this->last_operation_ = dir;
+      trig = this->close_trigger_;
+#ifdef USE_BINARY_SENSOR
+      obstacle = this->close_obstacle_;
+#endif
+      break;
+    default:
+      return;
+  }
+
+  this->stop_prev_trigger_();
+
+#ifdef USE_BINARY_SENSOR
+  // check if there is an obstacle to start the new operation -> abort without any change
+  // the case when an obstacle appears while moving is handled in the callback
+  if (obstacle != nullptr && obstacle->state) {
+    ESP_LOGD(TAG, "'%s' - %s obstacle detected. Action not started.", this->name_.c_str(),
+             dir == COVER_OPERATION_OPENING ? "Open" : "Close");
+    return;
+  }
+#endif
+
+  // if we are moving and need to move in the opposite direction
+  // check if we have a wait time
+  if (this->direction_change_waittime_.has_value() && dir != COVER_OPERATION_IDLE &&
+      this->current_operation != COVER_OPERATION_IDLE && dir != this->current_operation) {
+    ESP_LOGD(TAG, "'%s' - Reversing direction.", this->name_.c_str());
+    this->start_direction_(COVER_OPERATION_IDLE);
+
+    this->set_timeout("direction_change", *this->direction_change_waittime_,
+                      [this, dir]() { this->start_direction_(dir); });
+
+  } else {
+    this->set_current_operation_(dir, true);
+    this->prev_command_trigger_ = trig;
+    ESP_LOGD(TAG, "'%s' - Firing '%s' trigger.", this->name_.c_str(),
+             dir == COVER_OPERATION_OPENING   ? "OPEN"
+             : dir == COVER_OPERATION_CLOSING ? "CLOSE"
+                                              : "STOP");
+    trig->trigger();
+  }
+}
+
+void FeedbackCover::recompute_position_() {
+  if (this->current_operation == COVER_OPERATION_IDLE)
+    return;
+
+  const uint32_t now = millis();
+  float dir;
+  float action_dur;
+  float min_pos;
+  float max_pos;
+
+  // endstop sensors update position from their callbacks, and sets the fully open/close value
+  // If we have endstop, estimation never reaches the fully open/closed state.
+  // but if movement continues past corresponding endstop (inertia), keep the fully open/close state
+
+  switch (this->current_operation) {
+    case COVER_OPERATION_OPENING:
+      dir = 1.0f;
+      action_dur = this->open_duration_;
+      min_pos = COVER_CLOSED;
+      max_pos = (
+#ifdef USE_BINARY_SENSOR
+                    this->open_endstop_ != nullptr ||
+#endif
+                    this->infer_endstop_) &&
+                        this->position < COVER_OPEN
+                    ? 0.99f
+                    : COVER_OPEN;
+      break;
+    case COVER_OPERATION_CLOSING:
+      dir = -1.0f;
+      action_dur = this->close_duration_;
+      min_pos = (
+#ifdef USE_BINARY_SENSOR
+                    this->close_endstop_ != nullptr ||
+#endif
+                    this->infer_endstop_) &&
+                        this->position > COVER_CLOSED
+                    ? 0.01f
+                    : COVER_CLOSED;
+      max_pos = COVER_OPEN;
+      break;
+    default:
+      return;
+  }
+
+  // check if we have an acceleration_wait_time, and remove from position computation
+  if (now > (this->start_dir_time_ + this->acceleration_wait_time_)) {
+    this->position +=
+        dir * (now - std::max(this->start_dir_time_ + this->acceleration_wait_time_, this->last_recompute_time_)) /
+        (action_dur - this->acceleration_wait_time_);
+    this->position = clamp(this->position, min_pos, max_pos);
+  }
+  this->last_recompute_time_ = now;
+}
+
+}  // namespace feedback
+}  // namespace esphome

esphome/components/feedback/feedback_cover.h

@@ -0,0 +1,90 @@
+#pragma once
+
+#include "esphome/core/component.h"
+#include "esphome/core/automation.h"
+
+#ifdef USE_BINARY_SENSOR
+#include "esphome/components/binary_sensor/binary_sensor.h"
+#endif
+#include "esphome/components/cover/cover.h"
+
+namespace esphome {
+namespace feedback {
+
+class FeedbackCover : public cover::Cover, public Component {
+ public:
+  void setup() override;
+  void loop() override;
+  void dump_config() override;
+  float get_setup_priority() const override { return setup_priority::DATA; };
+
+  Trigger<> *get_open_trigger() const { return this->open_trigger_; }
+  Trigger<> *get_close_trigger() const { return this->close_trigger_; }
+  Trigger<> *get_stop_trigger() const { return this->stop_trigger_; }
+
+#ifdef USE_BINARY_SENSOR
+  void set_open_endstop(binary_sensor::BinarySensor *open_endstop);
+  void set_open_sensor(binary_sensor::BinarySensor *open_feedback);
+  void set_open_obstacle_sensor(binary_sensor::BinarySensor *open_obstacle);
+  void set_close_endstop(binary_sensor::BinarySensor *close_endstop);
+  void set_close_sensor(binary_sensor::BinarySensor *close_feedback);
+  void set_close_obstacle_sensor(binary_sensor::BinarySensor *close_obstacle);
+#endif
+  void set_open_duration(uint32_t duration) { this->open_duration_ = duration; }
+  void set_close_duration(uint32_t duration) { this->close_duration_ = duration; }
+  void set_has_built_in_endstop(bool value) { this->has_built_in_endstop_ = value; }
+  void set_assumed_state(bool value) { this->assumed_state_ = value; }
+  void set_max_duration(uint32_t max_duration) { this->max_duration_ = max_duration; }
+  void set_obstacle_rollback(float obstacle_rollback) { this->obstacle_rollback_ = obstacle_rollback; }
+  void set_update_interval(uint32_t interval) { this->update_interval_ = interval; }
+  void set_infer_endstop(bool infer_endstop) { this->infer_endstop_ = infer_endstop; }
+  void set_direction_change_waittime(uint32_t waittime) { this->direction_change_waittime_ = waittime; }
+  void set_acceleration_wait_time(uint32_t waittime) { this->acceleration_wait_time_ = waittime; }
+
+  cover::CoverTraits get_traits() override;
+
+ protected:
+  void control(const cover::CoverCall &call) override;
+  void stop_prev_trigger_();
+  bool is_at_target_() const;
+  void start_direction_(cover::CoverOperation dir);
+  void update_operation_(cover::CoverOperation dir);
+  void endstop_reached_(bool open_endstop);
+  void recompute_position_();
+  void set_current_operation_(cover::CoverOperation operation, bool is_triggered);
+
+#ifdef USE_BINARY_SENSOR
+  binary_sensor::BinarySensor *open_endstop_{nullptr};
+  binary_sensor::BinarySensor *close_endstop_{nullptr};
+  binary_sensor::BinarySensor *open_feedback_{nullptr};
+  binary_sensor::BinarySensor *close_feedback_{nullptr};
+  binary_sensor::BinarySensor *open_obstacle_{nullptr};
+  binary_sensor::BinarySensor *close_obstacle_{nullptr};
+
+#endif
+  Trigger<> *open_trigger_{new Trigger<>()};
+  Trigger<> *close_trigger_{new Trigger<>()};
+  Trigger<> *stop_trigger_{new Trigger<>()};
+
+  uint32_t open_duration_{0};
+  uint32_t close_duration_{0};
+  uint32_t max_duration_{UINT32_MAX};
+  optional<uint32_t> direction_change_waittime_{};
+  uint32_t acceleration_wait_time_{0};
+  bool has_built_in_endstop_{false};
+  bool assumed_state_{false};
+  bool infer_endstop_{false};
+  float obstacle_rollback_{0};
+
+  cover::CoverOperation last_operation_{cover::COVER_OPERATION_OPENING};
+  cover::CoverOperation current_trigger_operation_{cover::COVER_OPERATION_IDLE};
+  Trigger<> *prev_command_trigger_{nullptr};
+  uint32_t last_recompute_time_{0};
+  uint32_t start_dir_time_{0};
+  uint32_t last_publish_time_{0};
+  float target_position_{0};
+  uint32_t update_interval_{1000};
+};
+
+}  // namespace feedback
+}  // namespace esphome

tests/test1.yaml

@@ -1141,7 +1141,7 @@ sensor:
   - platform: max9611
     i2c_id: i2c_bus
     shunt_resistance: 0.2 ohm
-    gain: '1X'
+    gain: "1X"
     voltage:
       name: Max9611 Voltage
     current:
@@ -1152,7 +1152,6 @@ sensor:
       name: Max9611 Temp
     update_interval: 1s
 
-
 esp32_touch:
   setup_mode: False
   iir_filter: 10ms
@@ -1383,6 +1382,19 @@ binary_sensor:
     threshold: 100
     filters:
       - invert:
+  - platform: template
+    id: open_endstop_sensor
+  - platform: template
+    id: open_sensor
+  - platform: template
+    id: open_obstacle_sensor
+
+  - platform: template
+    id: close_endstop_sensor
+  - platform: template
+    id: close_sensor
+  - platform: template
+    id: close_obstacle_sensor
 
 pca9685:
   frequency: 500
@@ -2546,6 +2558,36 @@ cover:
     id: am43_test
     ble_client_id: ble_foo
     icon: mdi:blinds
+  - platform: feedback
+    name: "Feedback Cover"
+    id: gate
+    device_class: gate
+
+    infer_endstop_from_movement: false
+    has_built_in_endstop: false
+    max_duration: 30s
+    direction_change_wait_time: 300ms
+    acceleration_wait_time: 150ms
+    obstacle_rollback: 10%
+
+    open_duration: 22.1s
+    open_endstop: open_endstop_sensor
+    open_sensor: open_sensor
+    open_obstacle_sensor: open_obstacle_sensor
+
+    close_duration: 22.4s
+    close_endstop: close_endstop_sensor
+    close_sensor: close_sensor
+    close_obstacle_sensor: close_obstacle_sensor
+
+    open_action:
+      - logger.log: Open Action
+
+    close_action:
+      - logger.log: Close Action
+
+    stop_action:
+      - logger.log: Stop Action
 
 debug:
 
@@ -2617,10 +2659,10 @@ globals:
 text_sensor:
   - platform: ble_client
     ble_client_id: ble_foo
-    name: 'Sensor Location'
+    name: "Sensor Location"
-    service_uuid: '180d'
+    service_uuid: "180d"
-    characteristic_uuid: '2a38'
+    characteristic_uuid: "2a38"
-    descriptor_uuid: '2902'
+    descriptor_uuid: "2902"
     notify: true
     update_interval: never
     on_notify:
@@ -2712,7 +2754,7 @@ canbus:
                 lambda: "return x[0] == 0x11;"
               then:
                 light.toggle: ${roomname}_lights
-      - can_id:      0b00000000000000000000001000000
+      - can_id: 0b00000000000000000000001000000
         can_id_mask: 0b11111000000000011111111000000
         use_extended_id: true
         then:
@@ -2750,7 +2792,7 @@ canbus:
                 lambda: "return x[0] == 0x11;"
               then:
                 light.toggle: ${roomname}_lights
-      - can_id:      0b00000000000000000000001000000
+      - can_id: 0b00000000000000000000001000000
         can_id_mask: 0b11111000000000011111111000000
         use_extended_id: true
         then: