Merge remote-tracking branch 'origin/dev' into HEAD

esphome/components/feedback/cover.py

@@ -27,13 +27,13 @@ CONF_ACCELERATION_WAIT_TIME = "acceleration_wait_time"
 CONF_OVERSHOOT_DURATION = "overshoot_duration"
 CONF_OBSTACLE_ROLLBACK = "obstacle_rollback"
 
-endstop_ns = cg.esphome_ns.namespace("feedback")
-FeedbackCover = endstop_ns.class_("FeedbackCover", cover.Cover, cg.Component)
+feedback_ns = cg.esphome_ns.namespace("feedback")
+FeedbackCover = feedback_ns.class_("FeedbackCover", cover.Cover, cg.Component)
 
 
 def validate_infer_endstop(config: ConfigType) -> ConfigType:
-    if config[CONF_INFER_ENDSTOP_FROM_MOVEMENT] is True:
-        if config[CONF_HAS_BUILT_IN_ENDSTOP] is False:
+    if config[CONF_INFER_ENDSTOP_FROM_MOVEMENT]:
+        if not config[CONF_HAS_BUILT_IN_ENDSTOP]:
             raise cv.Invalid(
                 f"{CONF_INFER_ENDSTOP_FROM_MOVEMENT} can only be set if {CONF_HAS_BUILT_IN_ENDSTOP} is also set"
             )
@@ -119,58 +119,52 @@ async def to_code(config: ConfigType) -> None:
     var = await cover.new_cover(config)
     await cg.register_component(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]))
-    await cg.add_variable(var.set_open_endstop, config.get(CONF_OPEN_ENDSTOP))
-    await cg.add_variable(var.set_open_sensor, config.get(CONF_OPEN_SENSOR))
-    await cg.add_variable(
-        var.set_open_obstacle_sensor, config.get(CONF_OPEN_OBSTACLE_SENSOR)
-    )
-
-    # CLOSE
     await automation.build_automation(
         var.get_close_trigger(), [], config[CONF_CLOSE_ACTION]
     )
+    cg.add(var.set_open_duration(config[CONF_OPEN_DURATION]))
     cg.add(var.set_close_duration(config[CONF_CLOSE_DURATION]))
-    await cg.add_variable(var.set_close_endstop, config.get(CONF_CLOSE_ENDSTOP))
-    await cg.add_variable(var.set_close_sensor, config.get(CONF_CLOSE_SENSOR))
-    await cg.add_variable(
-        var.set_close_obstacle_sensor, config.get(CONF_CLOSE_OBSTACLE_SENSOR)
-    )
 
-    # OTHER
+    if CONF_OPEN_ENDSTOP in config or CONF_CLOSE_ENDSTOP in config:
+        cg.add_define("USE_FEEDBACK_COVER_ENDSTOP")
+        await cg.add_variable(var.set_open_endstop, config.get(CONF_OPEN_ENDSTOP))
+        await cg.add_variable(var.set_close_endstop, config.get(CONF_CLOSE_ENDSTOP))
+    # validation requires both movement sensors or neither
+    if CONF_OPEN_SENSOR in config:
+        cg.add_define("USE_FEEDBACK_COVER_MOVEMENT")
+        await cg.add_variable(var.set_open_sensor, config[CONF_OPEN_SENSOR])
+        await cg.add_variable(var.set_close_sensor, config[CONF_CLOSE_SENSOR])
+        cg.add(var.set_infer_endstop(config[CONF_INFER_ENDSTOP_FROM_MOVEMENT]))
+    if CONF_OPEN_OBSTACLE_SENSOR in config or CONF_CLOSE_OBSTACLE_SENSOR in config:
+        cg.add_define("USE_FEEDBACK_COVER_OBSTACLE")
+        await cg.add_variable(
+            var.set_open_obstacle_sensor, config.get(CONF_OPEN_OBSTACLE_SENSOR)
+        )
+        await cg.add_variable(
+            var.set_close_obstacle_sensor, config.get(CONF_CLOSE_OBSTACLE_SENSOR)
+        )
+        cg.add(var.set_obstacle_rollback(config[CONF_OBSTACLE_ROLLBACK]))
+
     cg.add_optional(var.set_max_duration, config.get(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]
-                )
-            )
+    assumed_state = config.get(CONF_ASSUMED_STATE)
+    if assumed_state is None:
+        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_assumed_state(assumed_state))
     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_optional(
+        var.set_direction_change_waittime, config.get(CONF_DIRECTION_CHANGE_WAIT_TIME)
+    )
     cg.add(var.set_acceleration_wait_time(config[CONF_ACCELERATION_WAIT_TIME]))
     if (overshoot := config[CONF_OVERSHOOT_DURATION]).total_milliseconds:
         cg.add_define("USE_FEEDBACK_COVER_OVERSHOOT")
         cg.add(var.set_overshoot_duration(overshoot))
-    cg.add(var.set_obstacle_rollback(config[CONF_OBSTACLE_ROLLBACK]))

esphome/components/feedback/feedback_cover.cpp

@@ -22,15 +22,15 @@ void FeedbackCover::setup() {
   }
   this->current_operation = COVER_OPERATION_IDLE;
 
-#ifdef USE_BINARY_SENSOR
-  // if available, get position from endstop sensors
+#ifdef USE_FEEDBACK_COVER_ENDSTOP
   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;
   }
+#endif
 
-  // if available, get moving state from sensors
+#ifdef USE_FEEDBACK_COVER_MOVEMENT
   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) {
@@ -51,30 +51,36 @@ CoverTraits FeedbackCover::get_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_COVER("", "Feedback Cover", this);
+  ESP_LOGCONFIG(TAG,
+                "  Open Duration: %.1fs\n"
+                "  Close Duration: %.1fs",
+                this->open_duration_ / 1e3f, this->close_duration_ / 1e3f);
+#ifdef USE_FEEDBACK_COVER_ENDSTOP
   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_);
+#endif
+#ifdef USE_FEEDBACK_COVER_MOVEMENT
+  LOG_BINARY_SENSOR("  ", "Open Feedback", this->open_feedback_);
   LOG_BINARY_SENSOR("  ", "Close Feedback", this->close_feedback_);
+#endif
+#ifdef USE_FEEDBACK_COVER_OBSTACLE
+  LOG_BINARY_SENSOR("  ", "Open Obstacle", this->open_obstacle_);
   LOG_BINARY_SENSOR("  ", "Close Obstacle", this->close_obstacle_);
 #endif
   if (this->has_built_in_endstop_) {
     ESP_LOGCONFIG(TAG, "  Has builtin endstop: YES");
   }
+#ifdef USE_FEEDBACK_COVER_MOVEMENT
   if (this->infer_endstop_) {
     ESP_LOGCONFIG(TAG, "  Infer endstop from movement: YES");
   }
+#endif
   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->direction_change_waittime_ != UINT32_MAX) {
+    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);
@@ -84,60 +90,51 @@ void FeedbackCover::dump_config() {
     ESP_LOGCONFIG(TAG, "  Overshoot duration: %.1fs", this->overshoot_duration_ / 1e3f);
   }
 #endif
-#ifdef USE_BINARY_SENSOR
-  if (this->obstacle_rollback_ && (this->open_obstacle_ != nullptr || this->close_obstacle_ != nullptr)) {
+#ifdef USE_FEEDBACK_COVER_OBSTACLE
+  if (this->obstacle_rollback_) {
     ESP_LOGCONFIG(TAG, "  Obstacle rollback: %.1f%%", this->obstacle_rollback_ * 100);
   }
 #endif
 }
 
-#ifdef USE_BINARY_SENSOR
-
+#ifdef USE_FEEDBACK_COVER_MOVEMENT
 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'.", LOG_STR_ARG(this->get_log_name()),
-             state ? LOG_STR_LITERAL("STARTED") : LOG_STR_LITERAL("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);
-  });
+  open_feedback->add_on_state_callback([this](bool state) { this->on_feedback_(true, state); });
 }
 
 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'.", LOG_STR_ARG(this->get_log_name()),
-             state ? LOG_STR_LITERAL("STARTED") : LOG_STR_LITERAL("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);
-  });
+  close_feedback->add_on_state_callback([this](bool state) { this->on_feedback_(false, state); });
 }
 
+void FeedbackCover::on_feedback_(bool open, bool state) {
+  const CoverOperation operation = open ? COVER_OPERATION_OPENING : COVER_OPERATION_CLOSING;
+  ESP_LOGD(TAG, "'%s' - %s feedback '%s'.", LOG_STR_ARG(this->get_log_name()),
+           open ? LOG_STR_LITERAL("Open") : LOG_STR_LITERAL("Close"),
+           state ? LOG_STR_LITERAL("STARTED") : LOG_STR_LITERAL("ENDED"));
+  this->recompute_position_();
+  if (!state && this->infer_endstop_ && this->current_trigger_operation_ == operation) {
+    this->endstop_reached_(open);
+  }
+  this->set_current_operation_(state ? operation : COVER_OPERATION_IDLE, false);
+}
+#endif
+
+#ifdef USE_FEEDBACK_COVER_ENDSTOP
 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) {
+    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) {
+    if (state)
       this->endstop_reached_(false);
-    }
   });
 }
 #endif
@@ -147,22 +144,22 @@ void FeedbackCover::endstop_reached_(bool open_endstop) {
 
   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
+  // Only when moving towards it; the cover may be returning from just past it
   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.", LOG_STR_ARG(this->get_log_name()),
              open_endstop ? LOG_STR_LITERAL("Open") : LOG_STR_LITERAL("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);
     }
+    // Without movement sensors the stop above already published
+    if (!this->has_movement_sensors_())
+      return;
   }
 
-  // always sync position and publish
   this->publish_state();
   this->last_publish_time_ = now;
 }
@@ -170,69 +167,54 @@ void FeedbackCover::endstop_reached_(bool open_endstop) {
 void FeedbackCover::set_current_operation_(cover::CoverOperation operation, bool is_triggered) {
   if (is_triggered) {
     this->current_trigger_operation_ = operation;
+    // With movement sensors they set the actual operation
+    if (this->has_movement_sensors_())
+      return;
   }
 
-  // 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
-  {
-    const uint32_t now = App.get_loop_component_start_time();
-    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.", LOG_STR_ARG(this->get_log_name()));
-      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);
-      }
-    }
-  });
+  const uint32_t now = App.get_loop_component_start_time();
+  this->current_operation = operation;
+  if (operation != COVER_OPERATION_IDLE)
+    this->enable_loop();
+  this->start_dir_time_ = this->last_recompute_time_ = now;
+  this->publish_state();
+  this->last_publish_time_ = now;
 }
 
+#ifdef USE_FEEDBACK_COVER_OBSTACLE
 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) { this->on_obstacle_(true, state); });
+}
 
-  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.", LOG_STR_ARG(this->get_log_name()));
-      this->start_direction_(COVER_OPERATION_IDLE);
+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) { this->on_obstacle_(false, state); });
+}
 
-      if (this->obstacle_rollback_) {
-        this->target_position_ = clamp(this->position - this->obstacle_rollback_, COVER_CLOSED, COVER_OPEN);
-        this->start_direction_(COVER_OPERATION_CLOSING);
-      }
-    }
-  });
+void FeedbackCover::on_obstacle_(bool open, bool state) {
+  const CoverOperation operation = open ? COVER_OPERATION_OPENING : COVER_OPERATION_CLOSING;
+  if (!state || (this->current_operation != operation && this->current_trigger_operation_ != operation))
+    return;
+  ESP_LOGD(TAG, "'%s' - %s obstacle detected.", LOG_STR_ARG(this->get_log_name()),
+           open ? LOG_STR_LITERAL("Open") : LOG_STR_LITERAL("Close"));
+  this->start_direction_(COVER_OPERATION_IDLE);
+
+  if (this->obstacle_rollback_) {
+    const float rollback = open ? -this->obstacle_rollback_ : this->obstacle_rollback_;
+    this->target_position_ = clamp(this->position + rollback, COVER_CLOSED, COVER_OPEN);
+    this->start_direction_(open ? COVER_OPERATION_CLOSING : COVER_OPERATION_OPENING);
+  }
 }
 #endif
 
 void FeedbackCover::loop() {
-  if (this->current_operation == COVER_OPERATION_IDLE)
+  if (this->current_operation == COVER_OPERATION_IDLE) {
+    this->disable_loop();
     return;
+  }
   const uint32_t now = App.get_loop_component_start_time();
 
-  // Recompute position every loop cycle
   this->recompute_position_();
 
   // if we initiated the move, check if we reached position or max time
@@ -264,9 +246,7 @@ void FeedbackCover::loop() {
     }
   }
 
-  // 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
+  // Publish intermediate positions without saving them
   if (now - this->last_publish_time_ > this->update_interval_) {
     this->publish_state(false);
     this->last_publish_time_ = now;
@@ -274,11 +254,9 @@ void FeedbackCover::loop() {
 }
 
 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 {
@@ -294,28 +272,15 @@ void FeedbackCover::control(const CoverCall &call) {
     auto pos_opt = call.get_position();
     if (!pos_opt.has_value())
       return;
-    // go to position action
     auto pos = *pos_opt;
     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_))) {
+      // Resend in case the assumed state is wrong
+      if (this->has_built_in_endstop_ &&
+          ((pos == COVER_OPEN && !this->has_endstop_(true)) || (pos == COVER_CLOSED && !this->has_endstop_(false)))) {
         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 {
@@ -326,7 +291,7 @@ void FeedbackCover::control(const CoverCall &call) {
 }
 
 void FeedbackCover::stop_prev_trigger_() {
-  if (this->direction_change_waittime_.has_value()) {
+  if (this->direction_change_waittime_ != UINT32_MAX) {
     this->cancel_timeout(DIRECTION_CHANGE_TIMEOUT_ID);
   }
   if (this->prev_command_trigger_ != nullptr) {
@@ -336,9 +301,6 @@ void FeedbackCover::stop_prev_trigger_() {
 }
 
 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_;
@@ -350,10 +312,10 @@ bool FeedbackCover::is_at_target_() const {
       return true;
   }
 }
+
 void FeedbackCover::start_direction_(CoverOperation dir) {
   Trigger<> *trig;
-
-#ifdef USE_BINARY_SENSOR
+#ifdef USE_FEEDBACK_COVER_OBSTACLE
   binary_sensor::BinarySensor *obstacle{nullptr};
 #endif
 
@@ -369,14 +331,14 @@ void FeedbackCover::start_direction_(CoverOperation dir) {
     case COVER_OPERATION_OPENING:
       this->last_operation_ = dir;
       trig = &this->open_trigger_;
-#ifdef USE_BINARY_SENSOR
+#ifdef USE_FEEDBACK_COVER_OBSTACLE
       obstacle = this->open_obstacle_;
 #endif
       break;
     case COVER_OPERATION_CLOSING:
       this->last_operation_ = dir;
       trig = &this->close_trigger_;
-#ifdef USE_BINARY_SENSOR
+#ifdef USE_FEEDBACK_COVER_OBSTACLE
       obstacle = this->close_obstacle_;
 #endif
       break;
@@ -386,9 +348,8 @@ void FeedbackCover::start_direction_(CoverOperation dir) {
 
   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
+#ifdef USE_FEEDBACK_COVER_OBSTACLE
+  // An obstacle already present aborts the start
   if (obstacle != nullptr && obstacle->state) {
     ESP_LOGD(TAG, "'%s' - %s obstacle detected. Action not started.", LOG_STR_ARG(this->get_log_name()),
              dir == COVER_OPERATION_OPENING ? LOG_STR_LITERAL("Open") : LOG_STR_LITERAL("Close"));
@@ -396,14 +357,12 @@ void FeedbackCover::start_direction_(CoverOperation dir) {
   }
 #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 &&
+  if (this->direction_change_waittime_ != UINT32_MAX && dir != COVER_OPERATION_IDLE &&
       this->current_operation != COVER_OPERATION_IDLE && dir != this->current_operation) {
-    const uint32_t waittime = *this->direction_change_waittime_;
     ESP_LOGD(TAG, "'%s' - Reversing direction.", LOG_STR_ARG(this->get_log_name()));
     this->start_direction_(COVER_OPERATION_IDLE);
-    this->set_timeout(DIRECTION_CHANGE_TIMEOUT_ID, waittime, [this, dir]() { this->start_direction_(dir); });
+    this->set_timeout(DIRECTION_CHANGE_TIMEOUT_ID, this->direction_change_waittime_,
+                      [this, dir]() { this->start_direction_(dir); });
   } else {
     this->set_current_operation_(dir, true);
     this->prev_command_trigger_ = trig;
@@ -425,42 +384,24 @@ void FeedbackCover::recompute_position_() {
   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
-
+  // With an endstop the estimate stops short of the end; the endstop callback sets it
   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;
+      max_pos = this->has_endstop_(true) && 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;
+      min_pos = this->has_endstop_(false) && 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_) {
     uint32_t accel_end_time = this->start_dir_time_ + this->acceleration_wait_time_;
     uint32_t effective_start;

esphome/components/feedback/feedback_cover.h

@@ -20,13 +20,19 @@ class FeedbackCover final : public cover::Cover, public Component {
   Trigger<> *get_close_trigger() { return &this->close_trigger_; }
   Trigger<> *get_stop_trigger() { return &this->stop_trigger_; }
 
-#ifdef USE_BINARY_SENSOR
+#ifdef USE_FEEDBACK_COVER_ENDSTOP
   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);
+#endif
+#ifdef USE_FEEDBACK_COVER_MOVEMENT
+  void set_open_sensor(binary_sensor::BinarySensor *open_feedback);
   void set_close_sensor(binary_sensor::BinarySensor *close_feedback);
+  void set_infer_endstop(bool infer_endstop) { this->infer_endstop_ = infer_endstop; }
+#endif
+#ifdef USE_FEEDBACK_COVER_OBSTACLE
+  void set_open_obstacle_sensor(binary_sensor::BinarySensor *open_obstacle);
   void set_close_obstacle_sensor(binary_sensor::BinarySensor *close_obstacle);
+  void set_obstacle_rollback(float obstacle_rollback) { this->obstacle_rollback_ = obstacle_rollback; }
 #endif
   void set_open_duration(uint32_t duration) { this->open_duration_ = duration; }
   void set_close_duration(uint32_t duration) { this->close_duration_ = duration; }
@@ -36,9 +42,7 @@ class FeedbackCover final : public cover::Cover, public Component {
 #ifdef USE_FEEDBACK_COVER_OVERSHOOT
   void set_overshoot_duration(uint32_t overshoot_duration) { this->overshoot_duration_ = overshoot_duration; }
 #endif
-  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; }
 
@@ -53,15 +57,43 @@ class FeedbackCover final : public cover::Cover, public Component {
   void endstop_reached_(bool open_endstop);
   void recompute_position_();
   void set_current_operation_(cover::CoverOperation operation, bool is_triggered);
+#ifdef USE_FEEDBACK_COVER_MOVEMENT
+  void on_feedback_(bool open, bool state);
+#endif
+#ifdef USE_FEEDBACK_COVER_OBSTACLE
+  void on_obstacle_(bool open, bool state);
+#endif
 
-#ifdef USE_BINARY_SENSOR
+  bool has_endstop_(bool open) const {
+#ifdef USE_FEEDBACK_COVER_ENDSTOP
+    if ((open ? this->open_endstop_ : this->close_endstop_) != nullptr)
+      return true;
+#endif
+#ifdef USE_FEEDBACK_COVER_MOVEMENT
+    return this->infer_endstop_;
+#else
+    return false;
+#endif
+  }
+  bool has_movement_sensors_() const {
+#ifdef USE_FEEDBACK_COVER_MOVEMENT
+    return this->open_feedback_ != nullptr && this->close_feedback_ != nullptr;
+#else
+    return false;
+#endif
+  }
+
+#ifdef USE_FEEDBACK_COVER_ENDSTOP
   binary_sensor::BinarySensor *open_endstop_{nullptr};
   binary_sensor::BinarySensor *close_endstop_{nullptr};
+#endif
+#ifdef USE_FEEDBACK_COVER_MOVEMENT
   binary_sensor::BinarySensor *open_feedback_{nullptr};
   binary_sensor::BinarySensor *close_feedback_{nullptr};
+#endif
+#ifdef USE_FEEDBACK_COVER_OBSTACLE
   binary_sensor::BinarySensor *open_obstacle_{nullptr};
   binary_sensor::BinarySensor *close_obstacle_{nullptr};
-
 #endif
   Trigger<> open_trigger_;
   Trigger<> close_trigger_;
@@ -73,12 +105,13 @@ class FeedbackCover final : public cover::Cover, public Component {
 #ifdef USE_FEEDBACK_COVER_OVERSHOOT
   uint32_t overshoot_duration_{0};
 #endif
-  optional<uint32_t> direction_change_waittime_{};
+  uint32_t direction_change_waittime_{UINT32_MAX};
   uint32_t acceleration_wait_time_{0};
   bool has_built_in_endstop_{false};
   bool assumed_state_{false};
+#ifdef USE_FEEDBACK_COVER_MOVEMENT
   bool infer_endstop_{false};
-  float obstacle_rollback_{0};
+#endif
 
   cover::CoverOperation last_operation_{cover::COVER_OPERATION_OPENING};
   cover::CoverOperation current_trigger_operation_{cover::COVER_OPERATION_IDLE};
@@ -90,6 +123,9 @@ class FeedbackCover final : public cover::Cover, public Component {
   uint32_t start_overshoot_time_{0};
 #endif
   float target_position_{0};
+#ifdef USE_FEEDBACK_COVER_OBSTACLE
+  float obstacle_rollback_{0};
+#endif
   uint32_t update_interval_{1000};
 };
 

esphome/core/defines.h

@@ -109,6 +109,9 @@
 #define USE_EZSP_PROXY_TAP
 #define USE_FAN
 #define USE_FONT
+#define USE_FEEDBACK_COVER_ENDSTOP
+#define USE_FEEDBACK_COVER_MOVEMENT
+#define USE_FEEDBACK_COVER_OBSTACLE
 #define USE_FEEDBACK_COVER_OVERSHOOT
 #define USE_GPIO_BINARY_SENSOR_INTERRUPT
 #define USE_GPIO_SWITCH_INTERLOCK

tests/components/feedback/test-minimal.esp8266-ard.yaml

@@ -0,0 +1,13 @@
+# No endstop, movement or obstacle sensors, so their code is compiled out
+cover:
+  - platform: feedback
+    id: feedback_minimal
+    name: Minimal Feedback Cover
+    open_action:
+      - logger.log: open
+    open_duration: 10s
+    close_action:
+      - logger.log: close
+    close_duration: 10s
+    stop_action:
+      - logger.log: stop

tests/integration/fixtures/feedback_cover_loop_wake.yaml

@@ -0,0 +1,69 @@
+esphome:
+  name: feedback-loop-wake
+
+host:
+api:
+  batch_delay: 0ms
+logger:
+  level: DEBUG
+
+# Stand in for a motor started outside ESPHome
+switch:
+  - platform: template
+    name: "External Open"
+    id: external_open
+    optimistic: true
+  - platform: template
+    name: "External Close"
+    id: external_close
+    optimistic: true
+
+binary_sensor:
+  - platform: template
+    id: open_moving
+    internal: true
+    condition:
+      switch.is_on: external_open
+  - platform: template
+    id: close_moving
+    internal: true
+    condition:
+      switch.is_on: external_close
+
+cover:
+  - platform: feedback
+    name: "Time Cover"
+    open_action:
+      - logger.log: "time_cover open"
+    close_action:
+      - logger.log: "time_cover close"
+    stop_action:
+      - logger.log: "time_cover stop"
+    open_duration: 2s
+    close_duration: 2s
+
+  - platform: feedback
+    name: "Max Duration Cover"
+    open_action:
+      - logger.log: "max_cover open"
+    close_action:
+      - logger.log: "max_cover close"
+    stop_action:
+      - logger.log: "max_cover stop"
+    open_duration: 3s
+    close_duration: 3s
+    max_duration: 1s
+
+  - platform: feedback
+    name: "Sensor Cover"
+    open_action:
+      - logger.log: "sensor_cover open"
+    close_action:
+      - logger.log: "sensor_cover close"
+    stop_action:
+      - logger.log: "sensor_cover stop"
+    open_duration: 4s
+    close_duration: 4s
+    open_sensor: open_moving
+    close_sensor: close_moving
+    update_interval: 200ms

tests/integration/test_feedback_cover_loop_wake.py

@@ -0,0 +1,100 @@
+"""Integration test that every way a feedback cover starts moving wakes its idle loop."""
+
+from __future__ import annotations
+
+import asyncio
+from collections.abc import Awaitable
+
+from aioesphomeapi import CoverInfo, CoverOperation, CoverState, EntityState, SwitchInfo
+import pytest
+
+from .log_utils import LineWaiter
+from .state_utils import StateWaiter, require_entity, subscribe_after_initial_states
+from .types import APIClientConnectedFactory, RunCompiledFunction
+
+
+def _expect_idle(waiter: StateWaiter, cover: CoverInfo) -> Awaitable[EntityState]:
+    return waiter.expect(
+        lambda s: (
+            isinstance(s, CoverState)
+            and s.key == cover.key
+            and s.current_operation == CoverOperation.IDLE
+        ),
+        label=f"{cover.name} IDLE",
+    )
+
+
+@pytest.mark.asyncio
+async def test_feedback_cover_loop_wake(
+    yaml_config: str,
+    run_compiled: RunCompiledFunction,
+    api_client_connected: APIClientConnectedFactory,
+) -> None:
+    """Test that target position, max_duration and movement sensors still work with the loop idled."""
+    lines = LineWaiter()
+    max_stopped = lines.expect("Max duration reached")
+    async with (
+        run_compiled(yaml_config, line_callback=lines.callback),
+        api_client_connected() as client,
+    ):
+        sensor_states: list[CoverState] = []
+        entities, _ = await client.list_entities_services()
+        time_cover = require_entity(entities, "time_cover", CoverInfo)
+        max_cover = require_entity(entities, "max_duration_cover", CoverInfo)
+        sensor_cover = require_entity(entities, "sensor_cover", CoverInfo)
+
+        def on_state(state: EntityState) -> None:
+            if isinstance(state, CoverState) and state.key == sensor_cover.key:
+                sensor_states.append(state)
+
+        sub = await subscribe_after_initial_states(client, entities, on_state=on_state)
+        waiter = sub.waiter
+
+        # Positions are restored from the previous run, so pick targets away from them
+        start = sub.initial_states[time_cover.key].position
+        target = 0.2 if start >= 0.5 else 0.8
+
+        # Only loop() stops a time-only cover at its target
+        done = _expect_idle(waiter, time_cover)
+        client.cover_command(key=time_cover.key, position=target)
+        state = await done
+        assert state.position == pytest.approx(target, abs=0.05)
+
+        # Stop mid move, then a new command must move it again and stop at the target
+        stopped = _expect_idle(waiter, time_cover)
+        client.cover_command(key=time_cover.key, position=start)
+        await asyncio.sleep(0.3)
+        client.cover_command(key=time_cover.key, stop=True)
+        mid = (await stopped).position
+        assert mid != pytest.approx(target, abs=0.05)
+        done = _expect_idle(waiter, time_cover)
+        client.cover_command(key=time_cover.key, position=target)
+        state = await done
+        assert state.position == pytest.approx(target, abs=0.05)
+
+        # 1s max_duration against a 3s travel
+        max_start = sub.initial_states[max_cover.key].position
+        max_target = 0.0 if max_start >= 0.5 else 1.0
+        done = _expect_idle(waiter, max_cover)
+        client.cover_command(key=max_cover.key, position=max_target)
+        state = await done
+        await asyncio.wait_for(max_stopped, 1.0)
+        assert abs(state.position - max_start) == pytest.approx(1 / 3, abs=0.1)
+
+        # Moved by the movement sensor alone, no command
+        sensor_start = sub.initial_states[sensor_cover.key].position
+        switch_name = "external_close" if sensor_start >= 0.5 else "external_open"
+        switch = require_entity(entities, switch_name, SwitchInfo)
+        sensor_states.clear()
+        client.switch_command(switch.key, True)
+        await asyncio.sleep(1.2)
+        settled = _expect_idle(waiter, sensor_cover)
+        client.switch_command(switch.key, False)
+        await settled
+        moving = {
+            round(s.position, 3)
+            for s in sensor_states
+            if s.current_operation != CoverOperation.IDLE
+        }
+        # One state from the sensor callback, the rest are loop() updates every 200ms
+        assert len(moving) >= 4, sensor_states