From 757a1c42f9112a92cad9154198c7854adf08ea42 Mon Sep 17 00:00:00 2001
From: Christopher Pruijsen <christopher.pruijsen@gmail.com>
Date: Tue, 29 Sep 2026 14:03:19 +0100
Subject: [PATCH] [dfrobot_sen0395] Fix output_latency treating milliseconds as
 seconds (#19873)

Co-authored-by: Jonathan Swoboda <154711427+swoboda1337@users.noreply.github.com>
---
 .../components/dfrobot_sen0395/__init__.py    | 25 +++++++++----------
 .../config/output_latency.yaml                | 22 ++++++++++++++++
 .../dfrobot_sen0395/test_output_latency.py    | 25 +++++++++++++++++++
 3 files changed, 59 insertions(+), 13 deletions(-)
 create mode 100644 tests/component_tests/dfrobot_sen0395/config/output_latency.yaml
 create mode 100644 tests/component_tests/dfrobot_sen0395/test_output_latency.py

diff --git a/esphome/components/dfrobot_sen0395/__init__.py b/esphome/components/dfrobot_sen0395/__init__.py
index 42627a30f6..6334e10ac5 100644
--- a/esphome/components/dfrobot_sen0395/__init__.py
+++ b/esphome/components/dfrobot_sen0395/__init__.py
@@ -187,19 +187,18 @@ async def dfrobot_sen0395_settings_to_code(
             template_ = await cg.templatable(segments[7], args, cg.float_)
             cg.add(var.set_det_max4(template_))
     if CONF_OUTPUT_LATENCY in config:
-        template_ = await cg.templatable(
-            config[CONF_OUTPUT_LATENCY][CONF_DELAY_AFTER_DETECT], args, float
-        )
-        if isinstance(template_, cv.TimePeriod):
-            template_ = template_.total_milliseconds / 1000
-        cg.add(var.set_delay_after_detect(template_))
-
-        template_ = await cg.templatable(
-            config[CONF_OUTPUT_LATENCY][CONF_DELAY_AFTER_DISAPPEAR], args, float
-        )
-        if isinstance(template_, cv.TimePeriod):
-            template_ = template_.total_milliseconds / 1000
-        cg.add(var.set_delay_after_disappear(template_))
+        latency = config[CONF_OUTPUT_LATENCY]
+        for key, setter in (
+            (CONF_DELAY_AFTER_DETECT, var.set_delay_after_detect),
+            (CONF_DELAY_AFTER_DISAPPEAR, var.set_delay_after_disappear),
+        ):
+            template_ = await cg.templatable(
+                latency[key],
+                args,
+                float,
+                to_exp=lambda period: period.total_milliseconds / 1000,
+            )
+            cg.add(setter(template_))
     if CONF_SENSITIVITY in config:
         template_ = await cg.templatable(config[CONF_SENSITIVITY], args, cg.int8)
         cg.add(var.set_sensitivity(template_))
diff --git a/tests/component_tests/dfrobot_sen0395/config/output_latency.yaml b/tests/component_tests/dfrobot_sen0395/config/output_latency.yaml
new file mode 100644
index 0000000000..a74527e4b1
--- /dev/null
+++ b/tests/component_tests/dfrobot_sen0395/config/output_latency.yaml
@@ -0,0 +1,22 @@
+esphome:
+  name: test
+  on_boot:
+    then:
+      - dfrobot_sen0395.settings:
+          id: mmwave
+          output_latency:
+            delay_after_detect: 0.1s
+            delay_after_disappear: 5.0s
+
+esp32:
+  board: esp32dev
+  framework:
+    type: esp-idf
+
+uart:
+  tx_pin: GPIO17
+  rx_pin: GPIO16
+  baud_rate: 115200
+
+dfrobot_sen0395:
+  id: mmwave
diff --git a/tests/component_tests/dfrobot_sen0395/test_output_latency.py b/tests/component_tests/dfrobot_sen0395/test_output_latency.py
new file mode 100644
index 0000000000..6ce6b6f974
--- /dev/null
+++ b/tests/component_tests/dfrobot_sen0395/test_output_latency.py
@@ -0,0 +1,25 @@
+"""Codegen tests for dfrobot_sen0395 output_latency units."""
+
+from collections.abc import Callable
+from pathlib import Path
+import re
+
+
+def _latency_return(main_cpp: str, setter: str) -> str:
+    match = re.search(
+        rf"{re.escape(setter)}\(\[\]\(\) -> float \{{\s*return ([^;]+);",
+        main_cpp,
+    )
+    assert match is not None, f"{setter} not found in generated main"
+    return match.group(1)
+
+
+def test_output_latency_emits_seconds_not_milliseconds(
+    generate_main: Callable[[str | Path], str],
+    component_config_path: Callable[[str], Path],
+) -> None:
+    """YAML 0.1s / 5.0s must reach SetLatencyCommand as seconds, not milliseconds."""
+    main_cpp = generate_main(component_config_path("output_latency.yaml"))
+
+    assert _latency_return(main_cpp, "set_delay_after_detect") == "0.1f"
+    assert _latency_return(main_cpp, "set_delay_after_disappear") == "5.0f"