Merge branch 'dev' into std-optional

esphome/components/ld2450/ld2450.cpp

@@ -168,15 +168,6 @@ static inline int16_t hex_to_signed_int(const uint8_t *buffer, uint8_t offset) {
   return dec_val;
 }
 
-static inline float calculate_angle(float base, float hypotenuse) {
-  if (base < 0.0f || hypotenuse <= 0.0f) {
-    return 0.0f;
-  }
-  float angle_radians = acosf(base / hypotenuse);
-  float angle_degrees = angle_radians * (180.0f / std::numbers::pi_v<float>);
-  return angle_degrees;
-}
-
 static inline bool validate_header_footer(const uint8_t *header_footer, const uint8_t *buffer) {
   return std::memcmp(header_footer, buffer, HEADER_FOOTER_SIZE) == 0;
 }
@@ -292,16 +283,19 @@ void LD2450Component::loop() {
   }
 }
 
-// Count targets in zone
-uint8_t LD2450Component::count_targets_in_zone_(const Zone &zone, bool is_moving) {
-  uint8_t count = 0;
-  for (auto &index : this->target_info_) {
-    if (index.x > zone.x1 && index.x < zone.x2 && index.y > zone.y1 && index.y < zone.y2 &&
-        index.is_moving == is_moving) {
-      count++;
+// Count targets in zone (single pass for both still and moving)
+void LD2450Component::count_targets_in_zone_(const Zone &zone, uint8_t &still, uint8_t &moving) {
+  still = 0;
+  moving = 0;
+  for (auto &target : this->target_info_) {
+    if (target.x > zone.x1 && target.x < zone.x2 && target.y > zone.y1 && target.y < zone.y2) {
+      if (target.is_moving) {
+        moving++;
+      } else {
+        still++;
+      }
     }
   }
-  return count;
 }
 
 // Service reset_radar_zone
@@ -510,11 +504,8 @@ void LD2450Component::handle_periodic_data_() {
     }
 #ifdef USE_SENSOR
     SAFE_PUBLISH_SENSOR(this->move_distance_sensors_[index], td);
-    // ANGLE
-    angle = ld2450::calculate_angle(static_cast<float>(ty), static_cast<float>(td));
-    if (tx > 0) {
-      angle = angle * -1;
-    }
+    // ANGLE - atan2f computes angle from Y axis directly, no sqrt/division needed
+    angle = atan2f(static_cast<float>(-tx), static_cast<float>(ty)) * (180.0f / std::numbers::pi_v<float>);
     SAFE_PUBLISH_SENSOR(this->move_angle_sensors_[index], angle);
 #endif
 #ifdef USE_TEXT_SENSOR
@@ -528,10 +519,11 @@ void LD2450Component::handle_periodic_data_() {
     } else {
       direction = DIRECTION_STATIONARY;
     }
-    text_sensor::TextSensor *tsd = this->direction_text_sensors_[index];
-    const auto *dir_str = find_str(ld2450::DIRECTION_BY_UINT, direction);
-    if (tsd != nullptr && (!tsd->has_state() || tsd->get_state() != dir_str)) {
-      tsd->publish_state(dir_str);
+    if (this->direction_dedup_[index].next(direction)) {
+      text_sensor::TextSensor *tsd = this->direction_text_sensors_[index];
+      if (tsd != nullptr) {
+        tsd->publish_state(find_str(ld2450::DIRECTION_BY_UINT, direction));
+      }
     }
 #endif
 
@@ -551,8 +543,7 @@ void LD2450Component::handle_periodic_data_() {
   uint8_t zone_moving_targets = 0;
   uint8_t zone_all_targets = 0;
   for (index = 0; index < MAX_ZONES; index++) {
-    zone_still_targets = this->count_targets_in_zone_(this->zone_config_[index], false);
-    zone_moving_targets = this->count_targets_in_zone_(this->zone_config_[index], true);
+    this->count_targets_in_zone_(this->zone_config_[index], zone_still_targets, zone_moving_targets);
     zone_all_targets = zone_still_targets + zone_moving_targets;
 
     // Publish Still Target Count in Zones

esphome/components/ld2450/ld2450.h

@@ -163,7 +163,7 @@ class LD2450Component : public Component, public uart::UARTDevice {
   void save_to_flash_(float value);
   float restore_from_flash_();
   bool get_timeout_status_(uint32_t check_millis);
-  uint8_t count_targets_in_zone_(const Zone &zone, bool is_moving);
+  void count_targets_in_zone_(const Zone &zone, uint8_t &still, uint8_t &moving);
 
   uint32_t presence_millis_ = 0;
   uint32_t still_presence_millis_ = 0;
@@ -194,7 +194,8 @@ class LD2450Component : public Component, public uart::UARTDevice {
   std::array<SensorWithDedup<uint8_t> *, MAX_ZONES> zone_moving_target_count_sensors_{};
 #endif
 #ifdef USE_TEXT_SENSOR
-  std::array<text_sensor::TextSensor *, 3> direction_text_sensors_{};
+  std::array<text_sensor::TextSensor *, MAX_TARGETS> direction_text_sensors_{};
+  std::array<Deduplicator<uint8_t>, MAX_TARGETS> direction_dedup_{};
 #endif
 
   LazyCallbackManager<void()> data_callback_;

esphome/components/uart/__init__.py

@@ -1,4 +1,3 @@
-from dataclasses import dataclass
 from logging import getLogger
 import math
 import re
@@ -117,38 +116,6 @@ MULTI_CONF = True
 MULTI_CONF_NO_DEFAULT = True
 
 
-@dataclass
-class UARTData:
-    """State data for UART component configuration generation."""
-
-    wake_loop_on_rx: bool = False
-
-
-def _get_data() -> UARTData:
-    """Get UART component data from CORE.data."""
-    if DOMAIN not in CORE.data:
-        CORE.data[DOMAIN] = UARTData()
-    return CORE.data[DOMAIN]
-
-
-def request_wake_loop_on_rx() -> None:
-    """Request that the UART wake the main loop when data is received.
-
-    Components that need low-latency notification of incoming UART data
-    should call this function during their code generation.
-    This enables the RX event task which wakes the main loop when data arrives.
-    """
-    data = _get_data()
-    if not data.wake_loop_on_rx:
-        data.wake_loop_on_rx = True
-
-        # UART RX event task uses wake_loop_threadsafe() to notify the main loop
-        # Automatically enable the socket wake infrastructure when RX wake is requested
-        from esphome.components import socket
-
-        socket.require_wake_loop_threadsafe()
-
-
 def validate_raw_data(value):
     if isinstance(value, str):
         return value.encode("utf-8")
@@ -542,7 +509,14 @@ async def uart_write_to_code(config, action_id, template_arg, args):
 @coroutine_with_priority(CoroPriority.FINAL)
 async def final_step():
     """Final code generation step to configure optional UART features."""
-    if _get_data().wake_loop_on_rx:
+    if CORE.is_esp32 and CORE.has_networking:
+        # Wake-on-RX is essentially free on ESP32 (just an ISR function pointer
+        # registration) — enable by default to reduce RX buffer overflow risk
+        # by waking the main loop immediately when data arrives.
+        # Requires networking for the wake_loop_isrsafe() infrastructure.
+        from esphome.components import socket
+
+        socket.require_wake_loop_threadsafe()
         cg.add_define("USE_UART_WAKE_LOOP_ON_RX")
 
 

esphome/components/uart/uart_component_esp_idf.cpp

@@ -2,7 +2,6 @@
 
 #include "uart_component_esp_idf.h"
 #include <cinttypes>
-#include "esphome/core/application.h"
 #include "esphome/core/defines.h"
 #include "esphome/core/helpers.h"
 #include "esphome/core/log.h"
@@ -10,6 +9,10 @@
 #include "driver/gpio.h"
 #include "soc/gpio_num.h"
 
+#ifdef USE_UART_WAKE_LOOP_ON_RX
+#include "esphome/core/application.h"
+#endif
+
 #ifdef USE_LOGGER
 #include "esphome/components/logger/logger.h"
 #endif
@@ -107,12 +110,6 @@ void IDFUARTComponent::load_settings(bool dump_config) {
   esp_err_t err;
 
   if (uart_is_driver_installed(this->uart_num_)) {
-#ifdef USE_UART_WAKE_LOOP_ON_RX
-    if (this->rx_event_task_handle_ != nullptr) {
-      vTaskDelete(this->rx_event_task_handle_);
-      this->rx_event_task_handle_ = nullptr;
-    }
-#endif
     err = uart_driver_delete(this->uart_num_);
     if (err != ESP_OK) {
       ESP_LOGW(TAG, "uart_driver_delete failed: %s", esp_err_to_name(err));
@@ -120,20 +117,13 @@ void IDFUARTComponent::load_settings(bool dump_config) {
       return;
     }
   }
-#ifdef USE_UART_WAKE_LOOP_ON_RX
-  constexpr int event_queue_size = 20;
-  QueueHandle_t *event_queue_ptr = &this->uart_event_queue_;
-#else
-  constexpr int event_queue_size = 0;
-  QueueHandle_t *event_queue_ptr = nullptr;
-#endif
   err = uart_driver_install(this->uart_num_,        // UART number
                             this->rx_buffer_size_,  // RX ring buffer size
                             0,  // TX ring buffer size. If zero, driver will not use a TX buffer and TX function will
                                 // block task until all data has been sent out
-                            event_queue_size,  // event queue size/depth
-                            event_queue_ptr,   // event queue
-                            0                  // Flags used to allocate the interrupt
+                            0,  // event queue size/depth
+                            nullptr,  // event queue
+                            0         // Flags used to allocate the interrupt
   );
   if (err != ESP_OK) {
     ESP_LOGW(TAG, "uart_driver_install failed: %s", esp_err_to_name(err));
@@ -213,8 +203,10 @@ void IDFUARTComponent::load_settings(bool dump_config) {
   }
 
 #ifdef USE_UART_WAKE_LOOP_ON_RX
-  // Start the RX event task to enable low-latency data notifications
-  this->start_rx_event_task_();
+  // Register ISR callback to wake the main loop when UART data arrives.
+  // The callback runs in ISR context and uses vTaskNotifyGiveFromISR() to
+  // wake the main loop task directly — no queue or FreeRTOS task needed.
+  uart_set_select_notif_callback(this->uart_num_, IDFUARTComponent::uart_rx_isr_callback);
 #endif  // USE_UART_WAKE_LOOP_ON_RX
 
   if (dump_config) {
@@ -345,71 +337,12 @@ void IDFUARTComponent::flush() {
 void IDFUARTComponent::check_logger_conflict() {}
 
 #ifdef USE_UART_WAKE_LOOP_ON_RX
-void IDFUARTComponent::start_rx_event_task_() {
-  // Create FreeRTOS task to monitor UART events
-  BaseType_t result = xTaskCreate(rx_event_task_func,    // Task function
-                                  "uart_rx_evt",         // Task name (max 16 chars)
-                                  2240,                  // Stack size in bytes (~2.2KB); increase if needed for logging
-                                  this,                  // Task parameter (this pointer)
-                                  tskIDLE_PRIORITY + 1,  // Priority (low, just above idle)
-                                  &this->rx_event_task_handle_  // Task handle
-  );
-
-  if (result != pdPASS) {
-    ESP_LOGE(TAG, "Failed to create RX event task");
-    return;
-  }
-
-  ESP_LOGV(TAG, "RX event task started");
-}
-
-// FreeRTOS task that relays UART ISR events to the main loop.
-// This task exists because wake_loop_threadsafe() is not ISR-safe (it uses a
-// UDP loopback socket), so we need a task as an ISR-to-main-loop trampoline.
-// IMPORTANT: This task must NOT call any UART wrapper methods (read_array,
-// write_array, peek_byte, etc.) or touch has_peek_/peek_byte_ — all reading
-// is done by the main loop. This task only reads from the event queue and
-// calls App.wake_loop_threadsafe().
-void IDFUARTComponent::rx_event_task_func(void *param) {
-  auto *self = static_cast<IDFUARTComponent *>(param);
-  uart_event_t event;
-
-  ESP_LOGV(TAG, "RX event task running");
-
-  // Run forever - task lifecycle matches component lifecycle
-  while (true) {
-    // Wait for UART events (blocks efficiently)
-    if (xQueueReceive(self->uart_event_queue_, &event, portMAX_DELAY) == pdTRUE) {
-      switch (event.type) {
-        case UART_DATA:
-          // Data available in UART RX buffer - wake the main loop
-          ESP_LOGVV(TAG, "Data event: %d bytes", event.size);
-#if defined(USE_SOCKET_SELECT_SUPPORT) && defined(USE_WAKE_LOOP_THREADSAFE)
-          App.wake_loop_threadsafe();
-#endif
-          break;
-
-        case UART_FIFO_OVF:
-        case UART_BUFFER_FULL:
-          // Don't call uart_flush_input() here — this task does not own the read side.
-          // ESP-IDF examples flush on overflow because the same task handles both events
-          // and reads, so flush and read are serialized. Here, reads happen on the main
-          // loop, so flushing from this task races with read_array() and can destroy data
-          // mid-read. The driver self-heals without an explicit flush: uart_read_bytes()
-          // calls uart_check_buf_full() after each chunk, which moves stashed FIFO bytes
-          // into the ring buffer and re-enables RX interrupts once space is freed.
-          ESP_LOGW(TAG, "FIFO overflow or ring buffer full");
-#if defined(USE_SOCKET_SELECT_SUPPORT) && defined(USE_WAKE_LOOP_THREADSAFE)
-          App.wake_loop_threadsafe();
-#endif
-          break;
-
-        default:
-          // Ignore other event types
-          ESP_LOGVV(TAG, "Event type: %d", event.type);
-          break;
-      }
-    }
+// ISR callback invoked by the ESP-IDF UART driver when data arrives.
+// Wakes the main loop directly via vTaskNotifyGiveFromISR() — no queue or task needed.
+void IRAM_ATTR IDFUARTComponent::uart_rx_isr_callback(uart_port_t uart_num, uart_select_notif_t uart_select_notif,
+                                                      BaseType_t *task_woken) {
+  if (uart_select_notif == UART_SELECT_READ_NOTIF) {
+    Application::wake_loop_isrsafe(task_woken);
   }
 }
 #endif  // USE_UART_WAKE_LOOP_ON_RX

esphome/components/uart/uart_component_esp_idf.h

@@ -5,6 +5,9 @@
 #include <driver/uart.h>
 #include "esphome/core/component.h"
 #include "uart_component.h"
+#ifdef USE_UART_WAKE_LOOP_ON_RX
+#include <driver/uart_select.h>
+#endif
 
 namespace esphome::uart {
 
@@ -12,9 +15,7 @@ namespace esphome::uart {
 ///
 /// Thread safety: All public methods must only be called from the main loop.
 /// The ESP-IDF UART driver API does not guarantee thread safety, and ESPHome's
-/// peek byte state (has_peek_/peek_byte_) is not synchronized. The rx_event_task
-/// (when enabled) must not call any of these methods — it communicates with the
-/// main loop exclusively via App.wake_loop_threadsafe().
+/// peek byte state (has_peek_/peek_byte_) is not synchronized.
 class IDFUARTComponent : public UARTComponent, public Component {
  public:
   void setup() override;
@@ -33,9 +34,6 @@ class IDFUARTComponent : public UARTComponent, public Component {
   void flush() override;
 
   uint8_t get_hw_serial_number() { return this->uart_num_; }
-#ifdef USE_UART_WAKE_LOOP_ON_RX
-  QueueHandle_t *get_uart_event_queue() { return &this->uart_event_queue_; }
-#endif
 
   /**
    * Load the UART with the current settings.
@@ -61,15 +59,8 @@ class IDFUARTComponent : public UARTComponent, public Component {
   uint8_t peek_byte_;
 
 #ifdef USE_UART_WAKE_LOOP_ON_RX
-  // RX notification support — runs on a separate FreeRTOS task.
-  // IMPORTANT: rx_event_task_func must NOT call any UART wrapper methods (read_array,
-  // write_array, etc.) or touch has_peek_/peek_byte_. It must only read from the
-  // event queue and call App.wake_loop_threadsafe().
-  void start_rx_event_task_();
-  static void rx_event_task_func(void *param);
-
-  QueueHandle_t uart_event_queue_;
-  TaskHandle_t rx_event_task_handle_{nullptr};
+  // ISR callback for UART RX data notification — wakes the main loop directly.
+  static void uart_rx_isr_callback(uart_port_t uart_num, uart_select_notif_t uart_select_notif, BaseType_t *task_woken);
 #endif  // USE_UART_WAKE_LOOP_ON_RX
 };
 

esphome/components/zwave_proxy/__init__.py

@@ -41,6 +41,3 @@ async def to_code(config):
     await cg.register_component(var, config)
     await uart.register_uart_device(var, config)
     cg.add_define("USE_ZWAVE_PROXY")
-
-    # Request UART to wake the main loop when data arrives for low-latency processing
-    uart.request_wake_loop_on_rx()

esphome/core/application.h

@@ -500,6 +500,16 @@ class Application {
   /// On other platforms: uses UDP loopback socket
   void wake_loop_threadsafe();
 #endif
+
+#if defined(USE_WAKE_LOOP_THREADSAFE) && defined(USE_LWIP_FAST_SELECT)
+  /// Wake the main event loop from an ISR.
+  /// Uses vTaskNotifyGiveFromISR() — <1 us, ISR-safe.
+  /// Only available on platforms with fast select (ESP32, LibreTiny).
+  /// @param px_higher_priority_task_woken Set to pdTRUE if a context switch is needed.
+  static void IRAM_ATTR wake_loop_isrsafe(int *px_higher_priority_task_woken) {
+    esphome_lwip_wake_main_loop_from_isr(px_higher_priority_task_woken);
+  }
+#endif
 #endif
 
  protected:

esphome/core/component.cpp

@@ -383,31 +383,30 @@ bool Component::is_idle() const { return (this->component_state_ & COMPONENT_STA
 bool Component::can_proceed() { return true; }
 bool Component::status_has_warning() const { return this->component_state_ & STATUS_LED_WARNING; }
 bool Component::status_has_error() const { return this->component_state_ & STATUS_LED_ERROR; }
+bool Component::set_status_flag_(uint8_t flag) {
+  if ((this->component_state_ & flag) != 0)
+    return false;
+  this->component_state_ |= flag;
+  App.app_state_ |= flag;
+  return true;
+}
 
 void Component::status_set_warning(const char *message) {
-  // Don't spam the log. This risks missing different warning messages though.
-  if ((this->component_state_ & STATUS_LED_WARNING) != 0)
+  if (!this->set_status_flag_(STATUS_LED_WARNING))
     return;
-  this->component_state_ |= STATUS_LED_WARNING;
-  App.app_state_ |= STATUS_LED_WARNING;
   ESP_LOGW(TAG, "%s set Warning flag: %s", LOG_STR_ARG(this->get_component_log_str()),
            message ? message : LOG_STR_LITERAL("unspecified"));
 }
 void Component::status_set_warning(const LogString *message) {
-  // Don't spam the log. This risks missing different warning messages though.
-  if ((this->component_state_ & STATUS_LED_WARNING) != 0)
+  if (!this->set_status_flag_(STATUS_LED_WARNING))
     return;
-  this->component_state_ |= STATUS_LED_WARNING;
-  App.app_state_ |= STATUS_LED_WARNING;
   ESP_LOGW(TAG, "%s set Warning flag: %s", LOG_STR_ARG(this->get_component_log_str()),
            message ? LOG_STR_ARG(message) : LOG_STR_LITERAL("unspecified"));
 }
 void Component::status_set_error() { this->status_set_error((const LogString *) nullptr); }
 void Component::status_set_error(const char *message) {
-  if ((this->component_state_ & STATUS_LED_ERROR) != 0)
+  if (!this->set_status_flag_(STATUS_LED_ERROR))
     return;
-  this->component_state_ |= STATUS_LED_ERROR;
-  App.app_state_ |= STATUS_LED_ERROR;
   ESP_LOGE(TAG, "%s set Error flag: %s", LOG_STR_ARG(this->get_component_log_str()),
            message ? message : LOG_STR_LITERAL("unspecified"));
   if (message != nullptr) {
@@ -415,10 +414,8 @@ void Component::status_set_error(const char *message) {
   }
 }
 void Component::status_set_error(const LogString *message) {
-  if ((this->component_state_ & STATUS_LED_ERROR) != 0)
+  if (!this->set_status_flag_(STATUS_LED_ERROR))
     return;
-  this->component_state_ |= STATUS_LED_ERROR;
-  App.app_state_ |= STATUS_LED_ERROR;
   ESP_LOGE(TAG, "%s set Error flag: %s", LOG_STR_ARG(this->get_component_log_str()),
            message ? LOG_STR_ARG(message) : LOG_STR_LITERAL("unspecified"));
   if (message != nullptr) {

esphome/core/component.h

@@ -299,6 +299,12 @@ class Component {
     this->component_state_ |= state;
   }
 
+  /// Helper to set a status LED flag on both this component and the app.
+  /// Returns true if the flag was newly set, false if it was already set.
+  /// Note: Callers often use the return value to decide whether to log a warning/error,
+  /// so once a flag is set, subsequent (potentially different) messages may be suppressed.
+  bool set_status_flag_(uint8_t flag);
+
   /** Set an interval function with a unique name. Empty name means no cancelling possible.
    *
    * This will call f every interval ms. Can be cancelled via CancelInterval().

esphome/core/lwip_fast_select.c

@@ -126,6 +126,12 @@
 
 #include <stddef.h>
 
+// IRAM_ATTR is defined by esp_attr.h (included via FreeRTOS headers) on ESP32.
+// On LibreTiny it's not defined — provide a no-op fallback.
+#ifndef IRAM_ATTR
+#define IRAM_ATTR
+#endif
+
 // Compile-time verification of thread safety assumptions.
 // On ESP32 (Xtensa/RISC-V) and LibreTiny (ARM Cortex-M), naturally-aligned
 // reads/writes up to 32 bits are atomic.
@@ -225,4 +231,12 @@ void esphome_lwip_wake_main_loop(void) {
   }
 }
 
+// Wake the main loop from an ISR. ISR-safe variant.
+void IRAM_ATTR esphome_lwip_wake_main_loop_from_isr(int *px_higher_priority_task_woken) {
+  TaskHandle_t task = s_main_loop_task;
+  if (task != NULL) {
+    vTaskNotifyGiveFromISR(task, (BaseType_t *) px_higher_priority_task_woken);
+  }
+}
+
 #endif  // defined(USE_ESP32) || defined(USE_LIBRETINY)

esphome/core/lwip_fast_select.h

@@ -28,6 +28,11 @@ void esphome_lwip_hook_socket(int fd);
 /// NOT ISR-safe — must only be called from task context.
 void esphome_lwip_wake_main_loop(void);
 
+/// Wake the main loop task from an ISR — costs <1 us.
+/// ISR-safe variant using vTaskNotifyGiveFromISR().
+/// @param px_higher_priority_task_woken Set to pdTRUE if a context switch is needed.
+void esphome_lwip_wake_main_loop_from_isr(int *px_higher_priority_task_woken);
+
 #ifdef __cplusplus
 }
 #endif

script/ci-custom.py

@@ -959,7 +959,7 @@ def main():
             continue
         run_checks(LINT_CONTENT_CHECKS, fname, fname, content)
 
-    run_checks(LINT_POST_CHECKS, "POST")
+    run_checks(LINT_POST_CHECKS, Path("POST"))
 
     for f, errs in sorted(errors.items()):
         bold = functools.partial(styled, colorama.Style.BRIGHT)