Merge branch 'dev' into ld6002b-static-ring-buffer

esphome/components/ld6002b/ld6002b.cpp

@@ -1066,20 +1066,19 @@ bool LD6002BComponent::queue_command_(uint16_t type, const uint8_t *data, uint8_
     ESP_LOGW(TAG, "Command data too large: %u", len);
     return false;
   }
-  if (this->cmd_count_ >= CMD_QUEUE_SIZE) {
+  if (this->cmd_queue_.size() >= CMD_QUEUE_SIZE) {
     ESP_LOGW(TAG, "Command queue full, dropping command 0x%04X", type);
     return false;
   }
 
-  PendingCommand &cmd = this->cmd_queue_[this->cmd_tail_];
+  PendingCommand cmd;
   cmd.type = type;
   cmd.len = len;
   if (len > 0 && data != nullptr) {
     std::memcpy(cmd.data.data(), data, len);
   }
+  this->cmd_queue_.push(cmd);
 
-  this->cmd_tail_ = (this->cmd_tail_ + 1) % CMD_QUEUE_SIZE;
-  this->cmd_count_++;
   this->process_command_queue_();
   return true;
 }
@@ -1146,12 +1145,11 @@ void LD6002BComponent::process_command_queue_() {
     return;
   }
 
-  if (this->cmd_count_ == 0)
+  if (this->cmd_queue_.empty())
     return;
 
-  this->active_command_ = this->cmd_queue_[this->cmd_head_];
-  this->cmd_head_ = (this->cmd_head_ + 1) % CMD_QUEUE_SIZE;
-  this->cmd_count_--;
+  this->active_command_ = this->cmd_queue_.front();
+  this->cmd_queue_.pop();
 
   this->send_generation_++;
   this->retries_left_ = CMD_MAX_RETRIES;

esphome/components/ld6002b/ld6002b.h

@@ -419,10 +419,7 @@ class LD6002BComponent : public Component, public uart::UARTDevice {
   // A reply cannot trail the frame that earned it for longer than this; the field worst case is ~726ms.
   static constexpr uint32_t STALE_ACK_MAX_AGE_MS = 1000;
 
-  std::array<PendingCommand, CMD_QUEUE_SIZE> cmd_queue_{};
-  uint8_t cmd_head_{0};
-  uint8_t cmd_tail_{0};
-  uint8_t cmd_count_{0};
+  StaticRingBuffer<PendingCommand, CMD_QUEUE_SIZE> cmd_queue_;
   bool command_active_{false};
   bool command_sent_{false};
   PendingCommand active_command_{};