mirror of
https://github.com/esphome/esphome.git
synced 2024-12-12 00:14:53 +01:00
150 lines
4.3 KiB
Python
150 lines
4.3 KiB
Python
import esphome.codegen as cg
|
|
import esphome.config_validation as cv
|
|
from esphome import automation
|
|
from esphome.const import (
|
|
CONF_ACCELERATION,
|
|
CONF_DECELERATION,
|
|
CONF_ID,
|
|
CONF_MAX_SPEED,
|
|
CONF_POSITION,
|
|
CONF_TARGET,
|
|
CONF_SPEED,
|
|
)
|
|
from esphome.core import CORE, coroutine, coroutine_with_priority
|
|
|
|
IS_PLATFORM_COMPONENT = True
|
|
|
|
# pylint: disable=invalid-name
|
|
stepper_ns = cg.esphome_ns.namespace("stepper")
|
|
Stepper = stepper_ns.class_("Stepper")
|
|
|
|
SetTargetAction = stepper_ns.class_("SetTargetAction", automation.Action)
|
|
ReportPositionAction = stepper_ns.class_("ReportPositionAction", automation.Action)
|
|
SetSpeedAction = stepper_ns.class_("SetSpeedAction", automation.Action)
|
|
|
|
|
|
def validate_acceleration(value):
|
|
value = cv.string(value)
|
|
for suffix in ("steps/s^2", "steps/s*s", "steps/s/s", "steps/ss", "steps/(s*s)"):
|
|
if value.endswith(suffix):
|
|
value = value[: -len(suffix)]
|
|
|
|
if value == "inf":
|
|
return 1e6
|
|
|
|
try:
|
|
value = float(value)
|
|
except ValueError:
|
|
# pylint: disable=raise-missing-from
|
|
raise cv.Invalid(f"Expected acceleration as floating point number, got {value}")
|
|
|
|
if value <= 0:
|
|
raise cv.Invalid("Acceleration must be larger than 0 steps/s^2!")
|
|
|
|
return value
|
|
|
|
|
|
def validate_speed(value):
|
|
value = cv.string(value)
|
|
for suffix in ("steps/s", "steps/s"):
|
|
if value.endswith(suffix):
|
|
value = value[: -len(suffix)]
|
|
|
|
if value == "inf":
|
|
return 1e6
|
|
|
|
try:
|
|
value = float(value)
|
|
except ValueError:
|
|
# pylint: disable=raise-missing-from
|
|
raise cv.Invalid(f"Expected speed as floating point number, got {value}")
|
|
|
|
if value <= 0:
|
|
raise cv.Invalid("Speed must be larger than 0 steps/s!")
|
|
|
|
return value
|
|
|
|
|
|
STEPPER_SCHEMA = cv.Schema(
|
|
{
|
|
cv.Required(CONF_MAX_SPEED): validate_speed,
|
|
cv.Optional(CONF_ACCELERATION, default="inf"): validate_acceleration,
|
|
cv.Optional(CONF_DECELERATION, default="inf"): validate_acceleration,
|
|
}
|
|
)
|
|
|
|
|
|
@coroutine
|
|
def setup_stepper_core_(stepper_var, config):
|
|
if CONF_ACCELERATION in config:
|
|
cg.add(stepper_var.set_acceleration(config[CONF_ACCELERATION]))
|
|
if CONF_DECELERATION in config:
|
|
cg.add(stepper_var.set_deceleration(config[CONF_DECELERATION]))
|
|
if CONF_MAX_SPEED in config:
|
|
cg.add(stepper_var.set_max_speed(config[CONF_MAX_SPEED]))
|
|
|
|
|
|
@coroutine
|
|
def register_stepper(var, config):
|
|
if not CORE.has_id(config[CONF_ID]):
|
|
var = cg.Pvariable(config[CONF_ID], var)
|
|
yield setup_stepper_core_(var, config)
|
|
|
|
|
|
@automation.register_action(
|
|
"stepper.set_target",
|
|
SetTargetAction,
|
|
cv.Schema(
|
|
{
|
|
cv.Required(CONF_ID): cv.use_id(Stepper),
|
|
cv.Required(CONF_TARGET): cv.templatable(cv.int_),
|
|
}
|
|
),
|
|
)
|
|
def stepper_set_target_to_code(config, action_id, template_arg, args):
|
|
paren = yield cg.get_variable(config[CONF_ID])
|
|
var = cg.new_Pvariable(action_id, template_arg, paren)
|
|
template_ = yield cg.templatable(config[CONF_TARGET], args, cg.int32)
|
|
cg.add(var.set_target(template_))
|
|
yield var
|
|
|
|
|
|
@automation.register_action(
|
|
"stepper.report_position",
|
|
ReportPositionAction,
|
|
cv.Schema(
|
|
{
|
|
cv.Required(CONF_ID): cv.use_id(Stepper),
|
|
cv.Required(CONF_POSITION): cv.templatable(cv.int_),
|
|
}
|
|
),
|
|
)
|
|
def stepper_report_position_to_code(config, action_id, template_arg, args):
|
|
paren = yield cg.get_variable(config[CONF_ID])
|
|
var = cg.new_Pvariable(action_id, template_arg, paren)
|
|
template_ = yield cg.templatable(config[CONF_POSITION], args, cg.int32)
|
|
cg.add(var.set_position(template_))
|
|
yield var
|
|
|
|
|
|
@automation.register_action(
|
|
"stepper.set_speed",
|
|
SetSpeedAction,
|
|
cv.Schema(
|
|
{
|
|
cv.Required(CONF_ID): cv.use_id(Stepper),
|
|
cv.Required(CONF_SPEED): cv.templatable(validate_speed),
|
|
}
|
|
),
|
|
)
|
|
def stepper_set_speed_to_code(config, action_id, template_arg, args):
|
|
paren = yield cg.get_variable(config[CONF_ID])
|
|
var = cg.new_Pvariable(action_id, template_arg, paren)
|
|
template_ = yield cg.templatable(config[CONF_SPEED], args, cg.int32)
|
|
cg.add(var.set_speed(template_))
|
|
yield var
|
|
|
|
|
|
@coroutine_with_priority(100.0)
|
|
async def to_code(config):
|
|
cg.add_global(stepper_ns.using)
|