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

esphome/core/helpers.cpp

@@ -337,6 +337,57 @@ size_t truncate_name_to(char *buffer, size_t buffer_size, const char *name, size
 
 // Parsing & formatting
 
+// A plain decimal converts exactly with one division: the digits accumulate
+// into an integer that stays below 2^24 and the fraction's scale is a power of
+// ten up to 1e9 (2^9 * 5^9), so both convert to float exactly and IEEE division
+// rounds the quotient correctly, the same result strtof produces.
+static constexpr uint32_t PARSE_FLOAT_MANTISSA_LIMIT = 1000000;  // one more digit stays below 2^24
+static constexpr uint32_t PARSE_FLOAT_MAX_FRACTION_DIGITS = 9;
+
+optional<float> parse_float(const char *str) {
+  const char *p = str;
+  const bool negative = *p == '-';
+  if (negative || *p == '+')
+    p++;
+  const char *digits = p;
+  const char *dot = nullptr;
+  uint32_t mantissa = 0;
+  for (;; p++) {
+    const uint32_t d = static_cast<unsigned char>(*p) - '0';
+    if (d > 9) {
+      if (*p == '.' && dot == nullptr) {
+        dot = p;
+        continue;
+      }
+      break;
+    }
+    if (mantissa >= PARSE_FLOAT_MANTISSA_LIMIT)
+      break;
+    mantissa = mantissa * 10 + d;
+  }
+  const uint32_t fraction_digits = dot != nullptr ? p - dot - 1 : 0;
+  const bool any_digit = p - digits > (dot != nullptr ? 1 : 0);
+  if (*p == '\0' && any_digit && fraction_digits <= PARSE_FLOAT_MAX_FRACTION_DIGITS) {
+    // The mantissa is exact in a float, so the sign goes on before the one rounding step
+    float value = static_cast<float>(mantissa);
+    if (negative)
+      value = -value;
+    if (fraction_digits != 0) {
+      uint32_t scale = 10;
+      for (uint32_t i = 1; i < fraction_digits; i++)
+        scale *= 10;
+      value /= static_cast<float>(scale);
+    }
+    return value;
+  }
+  // Exponents, hex, inf, nan, leading whitespace and longer inputs take the libc path.
+  char *end = nullptr;
+  const float value = ::strtof(str, &end);
+  if (end == str || *end != '\0' || value == HUGE_VALF)
+    return {};
+  return value;
+}
+
 size_t parse_hex(const char *str, size_t length, uint8_t *data, size_t count) {
   size_t chars = std::min(length, 2 * count);
   for (size_t i = 2 * count - chars; i < 2 * count; i++, str++) {

esphome/core/helpers.h

@@ -25,7 +25,6 @@
 #include <strings.h>
 
 #include "esphome/core/optional.h"
-#include "esphome/core/parse_float.h"
 #include "esphome/core/time_conversion.h"
 
 #ifdef USE_ESP8266
@@ -1034,26 +1033,6 @@ inline float pow10_int(int8_t exp) {
   return result;
 }
 
-/// 10^n, exact while it fits in T.
-template<typename T> constexpr T pow10_exact(uint32_t n) {
-  T result = 1;
-  T base = 10;
-  for (;;) {
-    if ((n & 1) != 0)
-      result *= base;
-    n >>= 1;
-    if (n == 0)
-      return result;
-    base *= base;
-  }
-}
-
-/// Whether c is '0' to '9'.
-constexpr bool is_digit(char c) { return static_cast<uint8_t>(c - '0') <= 9; }
-
-/// Whether c is C-locale white space, without isspace's ctype table.
-constexpr bool is_space_c(char c) { return c == ' ' || (c >= '\t' && c <= '\r'); }
-
 /// Remap \p value from the range (\p min, \p max) to (\p min_out, \p max_out).
 template<typename T, typename U> T remap(U value, U min, U max, T min_out, T max_out) {
   return (value - min) * (max_out - min_out) / (max - min) + min_out;
@@ -1594,6 +1573,8 @@ template<typename T, enable_if_t<(std::is_integral<T>::value && std::is_signed<T
 optional<T> parse_number(const std::string &str) {
   return parse_number<T>(str.c_str());
 }
+/// Parse a decimal floating-point number; plain decimals skip the libc parser.
+optional<float> parse_float(const char *str);
 /// Parse a decimal floating-point number from a null-terminated string.
 template<typename T, enable_if_t<(std::is_same<T, float>::value), int> = 0> optional<T> parse_number(const char *str) {
   return parse_float(str);

esphome/core/parse_float.cpp

@@ -1,372 +0,0 @@
-// picolibc 1.8.10's strtof, bit for bit, without libc's strtod: decimals round to 9 digits, then to the nearest float.
-// Float bits are built from integers, so chips that flush denormals give the same result.
-
-#include "esphome/core/parse_float.h"
-#include "esphome/core/hal.h"
-#include "esphome/core/helpers.h"
-
-#include <algorithm>
-#include <bit>
-
-namespace esphome {
-
-namespace {
-
-constexpr uint32_t FLOAT_SIGN_BIT = 0x80000000, FLOAT_INF_BITS = 0x7F800000;
-constexpr uint32_t FLOAT_NAN_BITS = 0x7FC00000;  // nanf(""), which strtof returns for every NaN
-
-constexpr uint32_t DECIMAL_DIGITS = 9, HEX_DIGITS = 8;  // digits kept before the rest only round
-constexpr int32_t EXPONENT_CAP = 224;  // picolibc stops adding exponent digits once the exponent reaches this
-// 0.<digits> * 10^exp10 is zero at or below MIN_EXP10 and infinity at or above MAX_EXP10, as in picolibc
-constexpr int32_t MIN_EXP10 = -46, MAX_EXP10 = 40;
-// Past this, one more digit could pass 2^24
-constexpr uint32_t PLAIN_MANTISSA_LIMIT = 1677720;
-
-// Bits of the float nearest to (m + sticky fraction) * 2^e, ties to even; m > 0
-uint32_t round_to_float_bits(uint64_t m, int32_t e, bool sticky) {
-  const int32_t msb = e + static_cast<int32_t>(std::bit_width(m)) - 1;  // the value is in [2^msb, 2^(msb + 1))
-  if (msb >= 128)
-    return FLOAT_INF_BITS;
-  if (msb < -150)  // below half the smallest float
-    return 0;
-  // The unit of the float's last bit: 2^(msb - 23), or 2^-149 for a denormal
-  const int32_t shift = std::max<int32_t>(msb - 23, -149) - e;  // at most 64
-  uint64_t q;
-  if (shift <= 0) {
-    q = m << -shift;
-  } else {
-    q = shift < 64 ? m >> shift : 0;
-    const uint64_t rem = shift < 64 ? m & ((uint64_t{1} << shift) - 1) : m;
-    const uint64_t half = uint64_t{1} << (shift - 1);
-    if (rem > half || (rem == half && (sticky || (q & 1) != 0)))
-      q++;
-  }
-  if (msb < -126)
-    return static_cast<uint32_t>(q);  // 2^23 here is the smallest normal float, as it should be
-  // Rounding up past the largest float gives exactly FLOAT_INF_BITS
-  return (static_cast<uint32_t>(msb + 127) << 23) + static_cast<uint32_t>(q - (uint64_t{1} << 23));
-}
-
-// The decimal exponents that reach decimal_to_float_bits: 1 to 9 digits and MIN_EXP10 < digits + e10 < MAX_EXP10
-constexpr int32_t MIN_E10 = MIN_EXP10 + 1 - static_cast<int32_t>(DECIMAL_DIGITS), MAX_E10 = MAX_EXP10 - 2;
-// Top 64 bits of 10^(8k), rounded down: 10^(8k) = entry * 2^(floor_log2_pow10(8k) - 63), exact for k = 0..3
-constexpr int32_t POW10_BY_8_FIRST = MIN_E10 >> 3, POW10_BY_8_LAST = MAX_E10 >> 3;
-constexpr uint64_t POW10_BY_8[] PROGMEM = {
-    0xFB158592BE068D2E, 0xBB127C53B17EC159, 0x8B61313BBABCE2C6, 0xCFB11EAD453994BA,
-    0x9ABE14CD44753B52, 0xE69594BEC44DE15B, 0xABCC77118461CEFC, 0x8000000000000000,
-    0xBEBC200000000000, 0x8E1BC9BF04000000, 0xD3C21BCECCEDA100, 0x9DC5ADA82B70B59D,
-};
-static_assert(POW10_BY_8_FIRST == -7 && POW10_BY_8_LAST == 4 &&
-                  sizeof(POW10_BY_8) / sizeof(POW10_BY_8[0]) == POW10_BY_8_LAST - POW10_BY_8_FIRST + 1,
-              "POW10_BY_8 must cover MIN_E10..MAX_E10");
-
-// floor(q * log2(10)), for |q| < 100
-constexpr int32_t floor_log2_pow10(int32_t q) { return (q * 217706) >> 16; }
-
-// The top 64 bits of a * b, rounded down
-uint64_t mul_high(uint64_t a, uint64_t b) {
-  const uint64_t a_lo = static_cast<uint32_t>(a), a_hi = a >> 32;
-  const uint64_t b_lo = static_cast<uint32_t>(b), b_hi = b >> 32;
-  const uint64_t hi_lo = a_hi * b_lo, lo_hi = a_lo * b_hi;
-  const uint64_t middle = ((a_lo * b_lo) >> 32) + static_cast<uint32_t>(hi_lo) + static_cast<uint32_t>(lo_hi);
-  return a_hi * b_hi + (hi_lo >> 32) + (lo_hi >> 32) + (middle >> 32);
-}
-
-// Cold: a decimal within 16 units of a midpoint is an exact tie when m10 * 5^e10 is an integer
-__attribute__((noinline, cold)) uint32_t tie_float_bits(uint32_t m10, int32_t e10, uint32_t bits) {
-  if (e10 >= 0) {
-    if (e10 <= 14)  // m10 * 5^14 stays below 2^64
-      return round_to_float_bits(m10 * (pow10_exact<uint64_t>(e10) >> e10), e10, false);
-  } else if (e10 >= -13) {
-    const auto pow5 = static_cast<uint32_t>(pow10_exact<uint64_t>(-e10) >> -e10);
-    if (m10 % pow5 == 0)
-      return round_to_float_bits(m10 / pow5, e10, false);
-  }
-  return bits;
-}
-
-// The float nearest to m10 * 10^e10 (0 < m10 <= 10^9). The product is under 4 units low; checked for all 85 billion
-// (m10, e10), only exact ties and one non-tie (6 units off, keeps its float) come within 34 units of a midpoint.
-uint32_t decimal_to_float_bits(uint32_t m10, int32_t e10) {
-  // Both operands are exact floats, so the one float operation gives the nearest float
-  const uint32_t power = e10 < 0 ? -e10 : e10;
-  if (m10 < (1u << 24) && power <= 10) {
-    const auto value = static_cast<float>(m10);
-    // 10^10 overflows uint32_t
-    const float factor = power == 10 ? 1e10f : static_cast<float>(pow10_exact<uint32_t>(power));
-    return bit_cast<uint32_t>(e10 < 0 ? value / factor : value * factor);
-  }
-  const int32_t k8 = e10 >> 3;  // rounds down
-  const uint64_t x = uint64_t{m10} * pow10_exact<uint32_t>(e10 & 7);
-  const auto zeros = static_cast<int32_t>(std::countl_zero(x));
-  uint64_t m = x << zeros;
-  int32_t e = -zeros;
-  if (k8 == 0)
-    return round_to_float_bits(m, e, false);  // exact
-  m = mul_high(m, POW10_BY_8[k8 - POW10_BY_8_FIRST]);
-  e += floor_log2_pow10(8 * k8) + 1;
-  if ((m >> 63) == 0) {
-    m <<= 1;
-    e--;
-  }
-  const uint32_t bits = round_to_float_bits(m, e, false);
-  // The bits below the float's last one, and the midpoint among them
-  const int32_t shift = std::max<int32_t>(40, -149 - e);
-  if (shift <= 64) {
-    const uint64_t low = shift < 64 ? m & ((uint64_t{1} << shift) - 1) : m;
-    const uint64_t half = uint64_t{1} << (shift - 1);
-    if (low - half + 16 > 32)  // |low - half| > 16
-      return bits;
-  }
-  return tie_float_bits(m10, e10, bits);
-}
-
-uint32_t no_number(const char *str, const char **end, bool *negative) {
-  *end = str;
-  *negative = false;
-  return 0;
-}
-
-// The rest of an "nan" or "inf" after its first letter at p; returns the end, or nullptr for no number
-const char *read_inf_nan(const char *p) {
-  const auto lower = [](char c) { return static_cast<char>(c | 0x20); };
-  if (lower(*p) == 'n') {
-    if (lower(p[1]) != 'a' || lower(p[2]) != 'n')
-      return nullptr;
-    p += 3;
-    if (*p != '(')
-      return p;
-    // "nan(" must be closed after letters, digits and '_'
-    do {
-      p++;
-    } while (static_cast<uint8_t>(lower(*p) - 'a') < 26 || is_digit(*p) || *p == '_');
-    return *p == ')' ? p + 1 : nullptr;
-  }
-  if (lower(p[1]) != 'n' || lower(p[2]) != 'f')
-    return nullptr;
-  p += 3;
-  if (lower(*p) != 'i')
-    return p;
-  // Past "infi", only "infinity" is a number
-  return lower(p[1]) == 'n' && lower(p[2]) == 'i' && lower(p[3]) == 't' && lower(p[4]) == 'y' ? p + 5 : nullptr;
-}
-
-// Reads a binary exponent "p" or decimal exponent "e" at p into *exp; returns the end of the number
-const char *read_exponent(const char *p, char letter, int32_t *exp) {
-  if ((*p | 0x20) != letter)
-    return p;
-  const char *q = p + 1;
-  const bool negative = *q == '-';
-  if (negative || *q == '+')
-    q++;
-  if (!is_digit(*q))
-    return p;
-  int32_t value = 0;
-  for (; is_digit(*q); q++) {
-    if (value < EXPONENT_CAP)
-      value = value * 10 + (*q - '0');
-  }
-  *exp += negative ? -value : value;
-  return q;
-}
-
-// Hex digits after the "x" at p, with the point and decimal exponent read so far (no non-zero digit yet)
-__attribute__((noinline, cold)) uint32_t read_hex(const char *p, bool dot, int32_t exp, const char **end) {
-  uint32_t m = 0, kept = 0;  // kept: digits in m from its first non-zero one
-  bool sticky = false;
-  for (;; p++) {
-    const char lower = static_cast<char>(*p | 0x20);
-    uint32_t digit = static_cast<uint8_t>(*p - '0');
-    if (static_cast<uint8_t>(lower - 'a') <= 5) {
-      digit = static_cast<uint8_t>(lower - 'a') + 10;
-    } else if (digit > 9) {
-      digit = 16;  // picolibc takes ':' to '?' as 10 to 15; we stop there like newlib
-    }
-    if (digit < 16) {
-      if (kept < HEX_DIGITS) {
-        if (dot)
-          exp--;
-        m = m * 16 + digit;
-        kept += m != 0 ? 1 : 0;
-      } else {
-        if (!dot)
-          exp++;
-        sticky |= digit != 0;
-      }
-    } else if (*p == '.' && !dot) {
-      dot = true;
-    } else if (lower != 'x' || m != 0) {  // picolibc takes another "x" while the value is still zero
-      break;
-    }
-  }
-  exp *= 4;
-  *end = read_exponent(p, 'p', &exp);
-  return m == 0 ? 0 : round_to_float_bits(m, exp, sticky);
-}
-
-// picolibc's conv_flt for a float from the first digit or point at p: returns the bits; *end is str for no number
-__attribute__((noinline)) uint32_t read_decimal(const char *str, const char *p, const char **end) {
-  uint32_t m = 0, kept = 0;  // the first (up to 9) significant digits, and how many from the first non-zero one
-  int32_t exp = 0;           // the value is m * 10^exp
-  bool dot = false, any = false;
-  uint32_t overflow = 0;  // digits past the kept ones: 0 none, 1 below half, 2 half, 3 above half
-  bool full = false;      // a digit past the kept ones was read
-  for (;; p++) {
-    const uint32_t digit = static_cast<uint8_t>(*p - '0');
-    if (digit <= 9) {
-      any = true;
-      if (kept < DECIMAL_DIGITS) {
-        if (dot)
-          exp--;
-        m = m * 10 + digit;
-        kept += m != 0 ? 1 : 0;
-      } else {
-        if (!dot)
-          exp++;
-        if (!full) {
-          full = true;
-          overflow = digit > 5 ? 3 : digit == 5 ? 2 : digit != 0 ? 1 : 0;  // the first one decides the half
-        } else {
-          overflow |= digit != 0 ? 1 : 0;
-        }
-      }
-    } else if (*p == '.' && !dot) {
-      dot = true;
-    } else {
-      break;
-    }
-  }
-  if ((*p | 0x20) == 'x' && any && m == 0)
-    return read_hex(p + 1, dot, exp, end);
-  if (!any) {
-    *end = str;
-    return 0;
-  }
-  *end = read_exponent(p, 'e', &exp);
-  if (m == 0)
-    return 0;
-  // Ties to even on the decimal digits
-  overflow |= m & 1;
-  m += (overflow + 1) >> 2;
-  const int32_t exp10 = static_cast<int32_t>(kept) + exp;
-  if (exp10 <= MIN_EXP10)
-    return 0;
-  if (exp10 >= MAX_EXP10)
-    return FLOAT_INF_BITS;
-  return decimal_to_float_bits(m, exp);
-}
-
-// picolibc's strtof from the start: returns the bits without the sign, which goes in *negative
-__attribute__((noinline)) uint32_t parse_float_full(const char *str, const char **end, bool *negative) {
-  // No number starts with a letter but i (inf) or n (nan): "unavailable", "on" and "unknown" stop here
-  const char first = static_cast<char>(*str | 0x20);
-  if (first >= 'a' && first <= 'z' && first != 'i' && first != 'n')
-    return no_number(str, end, negative);
-  const char *p = str;
-  while (is_space_c(*p))
-    p++;
-  *negative = *p == '-';
-  if (*negative || *p == '+')
-    p++;
-  const char lower = static_cast<char>(*p | 0x20);
-  if (lower == 'i' || lower == 'n') {
-    const char *stop = read_inf_nan(p);
-    if (stop == nullptr)
-      return no_number(str, end, negative);
-    *end = stop;
-    return lower == 'i' ? FLOAT_INF_BITS : FLOAT_NAN_BITS;
-  }
-  const uint32_t bits = read_decimal(str, p, end);
-  if (*end == str)
-    *negative = false;
-  return bits;
-}
-
-// A plain decimal below 2^24 with up to 9 digits after the point, in one float operation; nullptr otherwise
-ESPHOME_ALWAYS_INLINE inline const char *parse_plain_decimal(const char *str, uint32_t *bits, bool *negative) {
-  const char *p = str;
-  *negative = *p == '-';
-  if (*negative || *p == '+')
-    p++;
-  const char *digits = p;
-  const char *point = nullptr;
-  uint32_t mantissa = 0;
-  for (;; p++) {
-    const uint32_t d = static_cast<uint8_t>(*p) - '0';
-    if (d > 9) {
-      if (*p == '.' && point == nullptr) {
-        point = p;
-        continue;
-      }
-      break;
-    }
-    if (mantissa > PLAIN_MANTISSA_LIMIT)
-      return nullptr;
-    mantissa = mantissa * 10 + d;
-  }
-  const uint32_t fraction = point != nullptr ? p - point - 1 : 0;
-  const char c = static_cast<char>(*p | 0x20);
-  if (p - digits == (point != nullptr ? 1 : 0) || fraction > 9 || c == 'e' || c == 'x')
-    return nullptr;
-  float value = static_cast<float>(mantissa);
-  if (fraction != 0)
-    value /= static_cast<float>(pow10_exact<uint32_t>(fraction));  // 10^9 is an exact float
-  *bits = bit_cast<uint32_t>(value);
-  return p;
-}
-
-}  // namespace
-
-optional<float> parse_float(const char *str) {
-  // Own copy of the plain-decimal loop: sharing parse_plain_decimal costs 12 to 18% more instructions
-  const char *p = str;
-  const bool negative = *p == '-';
-  if (negative || *p == '+')
-    p++;
-  const char *digits = p;
-  const char *point = nullptr;
-  uint32_t mantissa = 0;
-  for (;; p++) {
-    const uint32_t d = static_cast<uint8_t>(*p) - '0';
-    if (d > 9) {
-      if (*p == '.' && point == nullptr) {
-        point = p;
-        continue;
-      }
-      break;
-    }
-    if (mantissa > PLAIN_MANTISSA_LIMIT)
-      break;
-    mantissa = mantissa * 10 + d;
-  }
-  const uint32_t fraction = point != nullptr ? p - point - 1 : 0;
-  if (*p == '\0' && p - digits > (point != nullptr ? 1 : 0) && fraction <= 9) {
-    float value = negative ? -static_cast<float>(mantissa) : static_cast<float>(mantissa);
-    if (fraction != 0)
-      value /= static_cast<float>(pow10_exact<uint32_t>(fraction));
-    return value;
-  }
-  const char *end;
-  bool full_negative;
-  const uint32_t bits = parse_float_full(str, &end, &full_negative);
-  // HUGE_VALF, positive overflow or "inf", is rejected like before
-  if (end == str || *end != '\0' || (!full_negative && bits == FLOAT_INF_BITS))
-    return {};
-  return bit_cast<float>(full_negative ? bits | FLOAT_SIGN_BIT : bits);
-}
-
-float str_to_float(const char *str, char **end) {
-  const char *stop;
-  bool negative;
-  uint32_t bits;
-  if (const char *plain_end = parse_plain_decimal(str, &bits, &negative)) {
-    stop = plain_end;
-  } else {
-    bits = parse_float_full(str, &stop, &negative);
-  }
-  if (end != nullptr)
-    *end = const_cast<char *>(stop);  // strtof's signature
-  return bit_cast<float>(negative ? bits | FLOAT_SIGN_BIT : bits);
-}
-
-}  // namespace esphome

esphome/core/parse_float.h

@@ -1,17 +0,0 @@
-#pragma once
-
-#include <cstdint>
-
-#include "esphome/core/optional.h"
-
-namespace esphome {
-
-/// The whole string as str_to_float's syntax (leading space, hex, inf, nan); trailing characters, "inf" and positive
-/// overflow are rejected, while -inf, negative overflow and NaN are accepted.
-optional<float> parse_float(const char *str);
-
-/// strtof with picolibc's results on every platform, but it never sets errno (overflow gives +-HUGE_VALF, underflow 0);
-/// use it instead of strtof, or strtod/atof for a float result.
-float str_to_float(const char *str, char **end);
-
-}  // namespace esphome

esphome/core/string_ref.h

@@ -7,7 +7,6 @@
 #include <memory>
 #include <string>
 #include "esphome/core/defines.h"
-#include "esphome/core/parse_float.h"
 
 #ifdef USE_JSON
 #include "esphome/components/json/json_util.h"
@@ -294,7 +293,7 @@ inline bool operator!=(const std::string &lhs, const ProgmemStringRef &rhs) { re
 #endif
 
 // String conversion functions for ADL compatibility (allows stoi(x) where x is StringRef)
-// Must be in esphome namespace for ADL to find them. Uses strtol, strtod and str_to_float to avoid heap allocation.
+// Must be in esphome namespace for ADL to find them. Uses strtol/strtod directly to avoid heap allocation.
 namespace internal {
 // NOLINTBEGIN(google-runtime-int)
 template<typename R, typename F> inline R parse_number(const StringRef &str, size_t *pos, F conv) {
@@ -335,7 +334,7 @@ inline long stol(const StringRef &str, size_t *pos = nullptr, int base = 10) {
   return internal::parse_number<long>(str, pos, base, std::strtol);
 }
 inline float stof(const StringRef &str, size_t *pos = nullptr) {
-  return internal::parse_number<float>(str, pos, str_to_float);
+  return internal::parse_number<float>(str, pos, std::strtof);
 }
 inline double stod(const StringRef &str, size_t *pos = nullptr) {
   return internal::parse_number<double>(str, pos, std::strtod);

tests/benchmarks/core/bench_parse_float.cpp

@@ -1,40 +0,0 @@
-#include <benchmark/benchmark.h>
-
-#include "esphome/core/helpers.h"
-
-namespace esphome::benchmarks {
-
-// Inner iteration count to amortize CodSpeed instrumentation overhead.
-static constexpr int kInnerIterations = 2000;
-
-static const char *const PLAIN[] = {"0.5", "255", "-12.75", "21.3"};
-static const char *const EXPONENT[] = {"1e3", "2.5e-2", "-6.02E5", "1.5e+1"};
-static const char *const PRECISE[] = {"3.14159265358979", "0.000123456789", "123456789.125", "-0.1000000000000000055"};
-// Home Assistant states that are not numbers
-static const char *const REJECT[] = {"unavailable", "unknown", "on", "off"};
-
-template<size_t N, typename F> static void run(benchmark::State &state, const char *const (&inputs)[N], F parse) {
-  for (auto _ : state) {
-    float sum = 0.0f;
-    for (int i = 0; i < kInnerIterations; i++)
-      sum += parse(inputs[i % N]);
-    benchmark::DoNotOptimize(sum);
-  }
-  state.SetItemsProcessed(state.iterations() * kInnerIterations);
-}
-
-static float parse_number_float(const char *str) { return parse_number<float>(str).value_or(0.0f); }
-
-static void ParseNumberFloat_Plain(benchmark::State &state) { run(state, PLAIN, parse_number_float); }
-BENCHMARK(ParseNumberFloat_Plain);
-
-static void ParseNumberFloat_Exponent(benchmark::State &state) { run(state, EXPONENT, parse_number_float); }
-BENCHMARK(ParseNumberFloat_Exponent);
-
-static void ParseNumberFloat_Precise(benchmark::State &state) { run(state, PRECISE, parse_number_float); }
-BENCHMARK(ParseNumberFloat_Precise);
-
-static void ParseNumberFloat_Reject(benchmark::State &state) { run(state, REJECT, parse_number_float); }
-BENCHMARK(ParseNumberFloat_Reject);
-
-}  // namespace esphome::benchmarks

tests/components/core/test_parse_float.cpp

@@ -1,74 +1,34 @@
 #include <gtest/gtest.h>
 
-#include <cmath>
 #include <cstdint>
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>
-#include <random>
 #include <string>
 
 #include "esphome/core/helpers.h"
-#include "esphome/core/parse_float.h"
 
-#ifdef USE_HOST
 namespace esphome::core::testing {
 
-static uint32_t bits(float value) { return bit_cast<uint32_t>(value); }
-
-// picolibc rounds a decimal to 9 significant digits and converts those to the nearest float, so up to 9
-// significant digits its result is the correctly rounded float the host's strtof (glibc, macOS) gives. Longer
-// input and the syntax where libcs differ are checked against values taken from picolibc 1.8.10's own strtof.
-static float reference_strtof(const char *str, char **end) {
-  const float value = ::strtof(str, end);
-  if (std::isnan(value))
-    return std::signbit(value) ? -NAN : NAN;
-  return value;
+static uint32_t bits(float value) {
+  uint32_t out;
+  memcpy(&out, &value, sizeof(out));
+  return out;
 }
 
-// Every accepted input must give the reference's bits.
+// strtof is the reference: every accepted input must give the same bits.
 static void expect_matches_strtof(const char *str) {
-  const float expected = reference_strtof(str, nullptr);
+  char *end = nullptr;
+  const float expected = ::strtof(str, &end);
   const auto parsed = parse_number<float>(str);
   if (!parsed.has_value()) {
     ADD_FAILURE() << str << " was rejected";
     return;
   }
-  EXPECT_EQ(bits(parsed.value()), bits(expected)) << str;
+  const float actual = parsed.value();
+  EXPECT_EQ(bits(actual), bits(expected)) << str << " parsed " << actual << " expected " << expected;
 }
 
-// The same bits and end as the host's strtof; for decimals of up to 9 significant digits
-static void expect_str_to_float_matches(const char *str) {
-  char *expected_end = nullptr;
-  const float expected = reference_strtof(str, &expected_end);
-  char *end = nullptr;
-  const float actual = str_to_float(str, &end);
-  EXPECT_EQ(bits(actual), bits(expected)) << '"' << str << '"';
-  EXPECT_EQ(end - str, expected_end - str) << '"' << str << '"';
-}
-
-struct PicolibcCase {
-  const char *str;
-  uint32_t bits;
-  int32_t end;
-};
-
-// Bits and end from picolibc 1.8.10's strtof
-static void expect_picolibc(const PicolibcCase &c) {
-  char *end = nullptr;
-  const float value = str_to_float(c.str, &end);
-  EXPECT_EQ(bits(value), c.bits) << '"' << c.str << '"';
-  EXPECT_EQ(end - c.str, c.end) << '"' << c.str << '"';
-}
-
-static void expect_picolibc(const std::string &str, uint32_t expected) {
-  char *end = nullptr;
-  EXPECT_EQ(bits(str_to_float(str.c_str(), &end)), expected) << str.substr(0, 40);
-  EXPECT_EQ(static_cast<size_t>(end - str.c_str()), str.size()) << str.substr(0, 40);
-}
-
-static float float_from(uint32_t value) { return bit_cast<float>(value); }
-
 TEST(ParseFloat, PlainDecimalsMatchStrtof) {
   for (const char *str :
        {"0",     "-0",      "+0",        "1",        "-1",          "100.50",      "99.75",       "0.1", "0.3",
@@ -86,14 +46,6 @@ TEST(ParseFloat, SweepOfTwoDecimalValuesMatchesStrtof) {
   }
 }
 
-// Eight-digit mantissas below 2^24 stay on the one-division path; the next digit past the limit falls back
-TEST(ParseFloat, EightDigitPlainDecimalsMatchStrtof) {
-  for (const char *str : {"12345678", "-12345678", "1234.5678", "0.12345678", "16777209", "1677720.9", "0.16777209",
-                          "16777210", "16777215", "1677721.5", "99999999", "9999999.9", "16777209."}) {
-    expect_matches_strtof(str);
-  }
-}
-
 // A fraction longer than the fast path accepts must fall back, however long it is.
 TEST(ParseFloat, LongFractionsMatchStrtof) {
   std::string str = "0.";
@@ -116,293 +68,10 @@ TEST(ParseFloat, LibcPathInputsMatchStrtof) {
 // Positive overflow and a positive literal infinity both come back as HUGE_VALF from strtof, and the parser
 // rejects both; the negative forms pass through, as they did before the fast path.
 TEST(ParseFloat, RejectsInvalidInput) {
-  for (const char *str : {"", "-", "+", ".", "abc", "12abc", "1.2.3", "1,5", "12 ", "--1", "1e", "1e400", "inf",
-                          "infinity", "infi", "nan(12 ab)", "nan(12"}) {
+  for (const char *str :
+       {"", "-", "+", ".", "abc", "12abc", "1.2.3", "1,5", "12 ", "--1", "1e", "1e400", "inf", "infinity"}) {
     EXPECT_FALSE(parse_number<float>(str).has_value()) << str;
   }
 }
 
-// Above the midpoint 1 + 2^-24 by less than half a double: newlib's strtof rounds to the midpoint and then to
-// 1.0f; picolibc's 9 digits, 1.00000006, give the next float.
-TEST(ParseFloat, FullPathRoundsLikePicolibc) {
-  EXPECT_EQ(bits(parse_number<float>("1.0000000596046448").value()), 0x3F800001u);
-  EXPECT_EQ(bits(parse_number<float>("-1.0000000596046448").value()), 0xBF800001u);
-}
-
-// picolibc takes "nan(" with letters, digits and '_' up to a ")", and nothing at all otherwise
-TEST(ParseFloat, NanForms) {
-  EXPECT_TRUE(std::isnan(parse_number<float>("nan(12)").value()));
-  EXPECT_TRUE(std::isnan(parse_number<float>("nan(xyz_1)").value()));
-  EXPECT_FALSE(parse_number<float>("nan(x y)").has_value());
-}
-
-// The callers' overflow check: a positive overflow is HUGE_VALF and rejected, a negative one is -inf and accepted
-TEST(ParseFloat, OverflowIsHugeValf) {
-  EXPECT_FALSE(parse_number<float>("1e39").has_value());
-  EXPECT_FALSE(parse_number<float>("3.40282357e38").has_value());
-  EXPECT_FALSE(parse_number<float>("1e99999").has_value());
-  EXPECT_EQ(bits(parse_number<float>("-1e39").value()), 0xFF800000u);
-  EXPECT_EQ(bits(parse_number<float>("3.4028235e38").value()), 0x7F7FFFFFu);
-}
-
-// Up to 9 significant digits, with leading and trailing zeros, a point anywhere and an exponent
-TEST(StrToFloat, RandomDecimalsMatchStrtof) {
-  std::mt19937_64 rng(1);  // NOLINT(cert-msc32-c,cert-msc51-cpp,bugprone-random-generator-seed) reproducible
-  for (int i = 0; i < 50000; i++) {
-    std::string str;
-    if (rng() % 3 == 0)
-      str += (rng() & 1) ? "-" : "+";
-    const int zeros = static_cast<int>(rng() % 4);
-    const int significant = 1 + static_cast<int>(rng() % 9);
-    const int trailing = static_cast<int>(rng() % 4);
-    std::string digits(zeros, '0');
-    digits += static_cast<char>('1' + rng() % 9);
-    for (int j = 1; j < significant; j++)
-      digits += static_cast<char>('0' + rng() % 10);
-    digits.append(trailing, '0');
-    const int point = static_cast<int>(rng() % (digits.size() + 2)) - 1;
-    for (int j = 0; j < static_cast<int>(digits.size()); j++) {
-      if (j == point)
-        str += '.';
-      str += digits[j];
-    }
-    if (rng() & 1) {
-      str += (rng() & 1) ? 'e' : 'E';
-      char exp[8];
-      snprintf(exp, sizeof(exp), "%d", static_cast<int>(rng() % 110) - 60);
-      str += exp;
-    }
-    expect_str_to_float_matches(str.c_str());
-  }
-}
-
-// Every 16411th float, printed with 6 and 9 digits
-TEST(StrToFloat, FloatsMatchStrtof) {
-  char buf[64];
-  for (uint32_t u = 0; u < 0x7F800000; u += 16411) {
-    for (int precision : {6, 9}) {
-      snprintf(buf, sizeof(buf), "%.*e", precision - 1, static_cast<double>(float_from(u)));
-      expect_str_to_float_matches(buf);
-    }
-  }
-}
-
-TEST(StrToFloat, SyntaxMatchesStrtof) {
-  // Tokens whose combinations the libcs read alike: no "x", "nan(" or "infi"
-  static const char *const TOKENS[] = {"0", "1", "9", ".", "e", "E", "+", "-", "a", "N", " ", "\t", "y", "00", "#", ""};
-  for (const char *a : TOKENS) {
-    for (const char *b : TOKENS) {
-      for (const char *c : TOKENS) {
-        for (const char *d : TOKENS) {
-          const std::string str = std::string(a) + b + c + d;
-          expect_str_to_float_matches(str.c_str());
-        }
-      }
-    }
-  }
-}
-
-// Where newlib and glibc read the text differently from picolibc
-TEST(StrToFloat, SyntaxMatchesPicolibc) {
-  static const PicolibcCase CASES[] = {
-      // "x" after any zero digits starts hex, even after a point or a second "0x"
-      {"000x", 0x00000000, 4},
-      {"0x", 0x00000000, 2},
-      {"-0x", 0x80000000, 3},
-      {"00x1", 0x3F800000, 4},
-      {"0x0x1", 0x3F800000, 5},
-      {"0.0x1", 0x3B800000, 5},
-      {".x1", 0x00000000, 0},
-      {"0x.p1", 0x00000000, 5},
-      {"0x.8", 0x3F000000, 4},
-      {"0X1.8", 0x3FC00000, 5},
-      {"0x1P-1", 0x3F000000, 6},
-      {"0x1p+", 0x3F800000, 3},
-      {"1x5", 0x3F800000, 1},
-      // "inf" stops before anything but "i"; past "infi" only "infinity" is a number
-      {"inf", 0x7F800000, 3},
-      {"-inf", 0xFF800000, 4},
-      {"INFINITY", 0x7F800000, 8},
-      {"+infi0", 0x00000000, 0},
-      {"infi", 0x00000000, 0},
-      {"infinit", 0x00000000, 0},
-      // "nan(" takes letters, digits and '_' up to ")", and is no number without the ")"
-      {"NaN", 0x7FC00000, 3},
-      {"nan()", 0x7FC00000, 5},
-      {"nan(xyz)", 0x7FC00000, 8},
-      {"nan(_a1)", 0x7FC00000, 8},
-      {"-nan(1)", 0xFFC00000, 7},
-      {"nan( )", 0x00000000, 0},
-      {"nan(12 ab)", 0x00000000, 0},
-      {"nan(12", 0x00000000, 0},
-      // An exponent needs a digit
-      {"1e", 0x3F800000, 1},
-      {"1e+", 0x3F800000, 1},
-      {"1e-x", 0x3F800000, 1},
-      {"\t 12", 0x41400000, 4},
-      {"- 1", 0x00000000, 0},
-      {"1.2.3", 0x3F99999A, 3},
-  };
-  for (const PicolibcCase &c : CASES)
-    expect_picolibc(c);
-}
-
-// The inputs where newlib's strtof (decimal to double to float) and picolibc's were found to differ; every platform
-// now gives picolibc's result, which is also the correctly rounded float for these
-TEST(StrToFloat, RoundsLikePicolibcWhereNewlibDoubleRounds) {
-  expect_picolibc({"1.0000000596046448", 0x3F800001, 18});
-  expect_picolibc({"0x1.100b0d0000000c", 0x3F880587, 18});
-  expect_picolibc("1.000000059604644775390625" + std::string(800, '0') + "1", 0x3F800001);
-}
-
-// picolibc rounds a decimal to 9 significant digits, ties to even, before converting it: past 9 digits its float can
-// be one away from the nearest, and an exact tie between two floats can round up. Values from picolibc.
-TEST(StrToFloat, NineDigitRoundingLikePicolibc) {
-  static const PicolibcCase CASES[] = {
-      {"1.0856183295439e10", 0x5021C50E, 18},          // nearest 0x5021C50D
-      {"3.97496754550e-4", 0x39D0671D, 16},            // nearest 0x39D0671C
-      {"9.76178673657108930e23", 0x674EB6C1, 22},      // nearest 0x674EB6C0
-      {"156.6562236e-26", 0x17F269ED, 15},             // nearest 0x17F269EC
-      {"1.000000059604644775390625", 0x3F800001, 26},  // the tie 1 + 2^-24: nearest-even 0x3F800000
-      {"1.000000059", 0x3F800001, 11},                 // 1.00000006 after rounding
-      {"7.0064923216240854e-46", 0x00000000, 22},      // 7.00649232e-46, below half the smallest float
-      {"21.299999999999997", 0x41AA6666, 18},
-      {"0.30000000000000004", 0x3E99999A, 19},
-      {"0.1000000000000000055511151231257827", 0x3DCCCCCD, 36},
-  };
-  for (const PicolibcCase &c : CASES)
-    expect_picolibc(c);
-}
-
-// Nine digits converted exactly: ties to even between floats, where the 64-bit product cannot decide alone
-TEST(StrToFloat, NineDigitTiesGoToEven) {
-  static const PicolibcCase CASES[] = {
-      {"16777217", 0x4B800000, 8},  {"16777219", 0x4B800002, 8},    {"16777217.0", 0x4B800000, 10},
-      {"8388608.5", 0x4B000000, 9}, {"8388609.5", 0x4B000002, 9},   {"3e10", 0x50DF8476, 4},
-      {"5e10", 0x513A43B7, 4},      {"1.00000006", 0x3F800001, 10},
-  };
-  for (const PicolibcCase &c : CASES)
-    expect_picolibc(c);
-}
-
-// RP2350 flushes float denormals in its double to float conversion; #22677 bench. The parser builds the bits
-// with integer operations, so every denormal parses to its own value.
-TEST(StrToFloat, DenormalsParseWithoutFlushing) {
-  char buf[64];
-  const auto check = [&buf](uint32_t k) {
-    snprintf(buf, sizeof(buf), "%.8e", std::ldexp(static_cast<double>(k), -149));
-    EXPECT_EQ(bits(str_to_float(buf, nullptr)), k) << buf;
-  };
-  for (uint32_t k = 0; k <= 0x800000; k += 4099)
-    check(k);
-  // The largest denormal and FLT_MIN, where rounding carries into the exponent
-  for (uint32_t k : {1u, 2u, 0x7FFFFEu, 0x7FFFFFu, 0x800000u})
-    check(k);
-}
-
-// Pico W and Pico 2 W bench, #22677: the RP2040 and RP2350 libcs flush float denormals to 0 in their double to
-// float conversion, and the RP2040 one turns a NaN into +infinity
-TEST(StrToFloat, Rp2040LibcFlushesAndNanToInfinity) {
-  static const PicolibcCase CASES[] = {
-      {"1e-40", 0x000116C2, 5},          {"1.4e-45", 0x00000001, 7},  {"1e-38", 0x006CE3EE, 5},
-      {"1.1754942e-38", 0x007FFFFF, 13}, {"0x1p-149", 0x00000001, 8}, {"1.17549435e-38", 0x00800000, 14},
-      {"nan(12)", 0x7FC00000, 7},        {"nan", 0x7FC00000, 3},
-  };
-  for (const PicolibcCase &c : CASES)
-    expect_picolibc(c);
-}
-
-// RP2350 bench: libc returned 0 and the first parser stalled stepping up from a flushed guess; #22677 bench
-TEST(StrToFloat, DenormalsAndFltMinMatchStrtof) {
-  for (const char *str : {"1.4e-45", "-1.4e-45", "1e-40", "1e-38", "1.17549435e-38", "1.1754942e-38", "1.17549421e-38",
-                          "1.1754945e-38", "7.0064923e-46", "7.0064924e-46"}) {
-    expect_str_to_float_matches(str);
-  }
-}
-
-// Home Assistant's non-numeric states; CodSpeed HomeassistantSensor_StateResponse_Unavailable on #22677
-TEST(StrToFloat, NonNumericStatesAreRejected) {
-  for (const char *str : {"unavailable", "unknown", "on", "off", "", "-", ".", "none", "inactive"}) {
-    expect_str_to_float_matches(str);
-    EXPECT_FALSE(parse_number<float>(str).has_value()) << str;
-  }
-}
-
-// The one float operation path takes up to 2^24 - 1 and 10^10; #22677 review
-TEST(StrToFloat, PlainPathBoundaries) {
-  for (const char *top : {"16777215", "16777216", "16777217"}) {
-    for (const char *exp : {"e10", "e-10", "e11", "e-11", "e9", "e-9", ".5", ".25"}) {
-      const std::string str = std::string(top) + exp;
-      expect_str_to_float_matches(str.c_str());
-    }
-  }
-}
-
-// The midpoint between FLT_MAX and 2^128 rounds to infinity; review
-TEST(StrToFloat, OverflowMidpoint) {
-  expect_picolibc({"340282356779733661637539395458142568448", 0x7F800000, 39});
-  expect_picolibc({"3.40282356e38", 0x7F7FFFFF, 13});
-  expect_picolibc({"3.40282357e38", 0x7F800000, 13});
-  EXPECT_EQ(bits(str_to_float("0x1.ffffffp127", nullptr)), 0x7F800000u);
-}
-
-// picolibc stops adding exponent digits at 224, so the digits of the mantissa can move it no further
-TEST(StrToFloat, HugeExponents) {
-  for (const char *str : {"1e-99999", "1e99999", "-1e99999", "0e99999", "1e9999999999999999999",
-                          "1e-9999999999999999999", "1e-999999999999", "0.000e99999", "1e224", "1e2240", "1e-2240"}) {
-    expect_str_to_float_matches(str);
-  }
-  // 10^-3000 * 10^3000 is 1, but the exponent counts only as 300
-  expect_picolibc("0." + std::string(2999, '0') + "1e3000", 0x00000000);
-  expect_picolibc("1" + std::string(300, '0') + "e-300", 0x3F800000);
-}
-
-TEST(StrToFloat, LongMantissas) {
-  expect_picolibc("1" + std::string(799, '0') + "e-799", 0x3F800000);
-  expect_picolibc("1." + std::string(3000, '0') + "1e-3001", 0x00000000);
-  expect_picolibc("0." + std::string(400, '0') + "34028235" + std::string(500, '7') + "e440", 0x7F800000);
-  expect_picolibc(std::string(300, '9') + "e-261", 0x7F800000);
-  expect_picolibc("3" + std::string(799, '7') + "e-761", 0x7F800000);
-}
-
-// picolibc takes ':' to '?' as hex digits 10 to 15 ("0x1:" is 26); these stop at them, as newlib does. #22677 review
-TEST(StrToFloat, HexStopsAtPunctuationAfterNine) {
-  struct Case {
-    const char *str;
-    uint32_t bits;
-    int32_t end;
-  };
-  const Case cases[] = {
-      {"0x1:", 0x3F800000, 3}, {"0x1;", 0x3F800000, 3}, {"0x1<", 0x3F800000, 3},  {"0x1=", 0x3F800000, 3},
-      {"0x1>", 0x3F800000, 3}, {"0x1?", 0x3F800000, 3}, {"0x1.:", 0x3F800000, 4}, {"0x:", 0x00000000, 2},
-      {"0x9?", 0x41100000, 3}, {"0xA:", 0x41200000, 3},
-  };
-  for (const auto &c : cases) {
-    char *end = nullptr;
-    const float value = str_to_float(c.str, &end);
-    EXPECT_EQ(bits(value), c.bits) << '"' << c.str << '"';
-    EXPECT_EQ(end - c.str, c.end) << '"' << c.str << '"';
-    EXPECT_FALSE(parse_number<float>(c.str).has_value()) << c.str;
-  }
-}
-
-TEST(StrToFloat, HexDenormalsAndOverflow) {
-  struct Case {
-    const char *str;
-    uint32_t bits;
-  };
-  static const Case CASES[] = {
-      {"0x1p-149", 0x00000001},         {"0x1p-150", 0x00000000},
-      {"0x1.8p-149", 0x00000002},       {"0x1.fffffcp-127", 0x007FFFFF},
-      {"0x1.fffffep-127", 0x00800000},  {"-0x1p-149", 0x80000001},
-      {"0x1p128", 0x7F800000},          {"0x1.fffffep127", 0x7F7FFFFF},
-      {"0x1.fffffefp127", 0x7F7FFFFF},  {"0x1.0000000000001p-150", 0x00000001},
-      {"0x1.000001p0", 0x3F800000},     {"0x1.000003p0", 0x3F800002},
-      {"0x1p-99999999999", 0x00000000}, {"0x1p99999999999", 0x7F800000},
-  };
-  for (const Case &c : CASES)
-    EXPECT_EQ(bits(str_to_float(c.str, nullptr)), c.bits) << c.str;
-}
-
 }  // namespace esphome::core::testing
-#endif  // USE_HOST

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