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745db9f705
Co-authored-by: J. Nick Koston <nick@koston.org> Co-authored-by: Jonathan Swoboda <154711427+swoboda1337@users.noreply.github.com>
129 lines
3.8 KiB
Python
129 lines
3.8 KiB
Python
# YAML config keys
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import esphome.codegen as cg
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from esphome.components import sensor
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import esphome.config_validation as cv
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from esphome.const import (
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CONF_TYPE,
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ICON_ACCELERATION,
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ICON_ROTATE_RIGHT,
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STATE_CLASS_MEASUREMENT,
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UNIT_DEGREE_PER_SECOND,
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UNIT_DEGREES,
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UNIT_G,
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)
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from esphome.cpp_generator import MockObj
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from esphome.cpp_types import std_ns
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import esphome.final_validate as fv
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from . import (
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AXES,
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CONF_MOTION_ID,
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KEY_ACCELEROMETER,
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KEY_GYROSCOPE,
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SENSOR_SCHEMA,
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motion_ns,
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)
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MotionData = motion_ns.class_("MotionData")
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CONF_PITCH = "pitch"
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CONF_ROLL = "roll"
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ICON_SEESAW = "mdi:seesaw"
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def _accel_sensor_schema():
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return sensor.sensor_schema(
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unit_of_measurement=UNIT_G,
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icon=ICON_ACCELERATION,
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accuracy_decimals=2,
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state_class=STATE_CLASS_MEASUREMENT,
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).extend(SENSOR_SCHEMA)
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def _gyro_sensor_schema():
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return sensor.sensor_schema(
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unit_of_measurement=UNIT_DEGREE_PER_SECOND,
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icon=ICON_ROTATE_RIGHT,
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accuracy_decimals=2,
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state_class=STATE_CLASS_MEASUREMENT,
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).extend(SENSOR_SCHEMA)
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def _level_sensor_schema():
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return sensor.sensor_schema(
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unit_of_measurement=UNIT_DEGREES,
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icon=ICON_SEESAW,
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accuracy_decimals=2,
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state_class=STATE_CLASS_MEASUREMENT,
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).extend(SENSOR_SCHEMA)
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_ACCELERATIONS = ["acceleration_" + a for a in AXES]
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_GYROSCOPES = ["gyroscope_" + g for g in AXES]
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_ANGULAR_RATES = ["angular_rate_" + r for r in AXES]
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CONFIG_SCHEMA = cv.typed_schema(
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{
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**{x: _accel_sensor_schema() for x in _ACCELERATIONS},
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**{x: _gyro_sensor_schema() for x in _GYROSCOPES},
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**{x: _gyro_sensor_schema() for x in _ANGULAR_RATES},
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**{x: _level_sensor_schema() for x in (CONF_PITCH, CONF_ROLL)},
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}
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)
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def _final_validate(config: dict) -> None:
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full_config = fv.full_config.get()
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motion_path = full_config.get_path_for_id(config[CONF_MOTION_ID])[:-1]
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motion_config = full_config.get_config_for_path(motion_path)
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has_accel = motion_config.get(KEY_ACCELEROMETER, False)
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has_gyro = motion_config.get(KEY_GYROSCOPE, False)
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sensor_type = config[CONF_TYPE]
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if (
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sensor_type in _ACCELERATIONS or sensor_type in (CONF_ROLL, CONF_PITCH)
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) and not has_accel:
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raise cv.Invalid(
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"The motion device does not measure acceleration", path=[CONF_TYPE]
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)
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if (sensor_type in _GYROSCOPES or sensor_type in _ANGULAR_RATES) and not has_gyro:
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raise cv.Invalid(
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"The motion device does not measure angular rate", path=[CONF_TYPE]
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)
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FINAL_VALIDATE_SCHEMA = _final_validate
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def build_sensor_expr(sensor_type: str, data: MockObj) -> MockObj:
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"""Build the C++ expression for a motion sensor type."""
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# Note that <numbers> is included via this component's header file.
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pif = std_ns.namespace("numbers").pi_v.template(cg.float_)
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if sensor_type == CONF_ROLL:
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ay = data.acceleration[1]
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az = data.acceleration[2]
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return std_ns.atan2(ay, az) * (180.0 / pif)
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if sensor_type == CONF_PITCH:
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ax = data.acceleration[0]
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ay = data.acceleration[1]
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az = data.acceleration[2]
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return std_ns.atan2(-ax, std_ns.sqrt(ay * ay + az * az)) * (180.0 / pif)
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sensor_offset = AXES.index(sensor_type[-1:])
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if sensor_type in _GYROSCOPES:
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sensor_type = _ANGULAR_RATES[sensor_offset]
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return getattr(data, str(sensor_type[:-2]))[sensor_offset]
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async def to_code(config):
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sensor_type = config[CONF_TYPE]
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var = await sensor.new_sensor(config)
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parent = await cg.get_variable(config[CONF_MOTION_ID])
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data = MockObj("data")
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expr = build_sensor_expr(sensor_type, data)
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value_lambda = await cg.process_lambda(
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var.publish_state(expr),
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[(MotionData.operator("ref"), str(data))],
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)
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cg.add(parent.add_listener(value_lambda))
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