95 lines
3.3 KiB
C++
95 lines
3.3 KiB
C++
#include "ratgdo_sensor.h"
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#include "../ratgdo_state.h"
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#include "esphome/core/log.h"
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namespace esphome::ratgdo {
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static const char* const TAG = "ratgdo.sensor";
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static const int MIN_DISTANCE = 100; // ignore bugs crawling on the distance sensor & dust protection film
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static const int MAX_DISTANCE = 4500; // default maximum distance
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void RATGDOSensor::setup()
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{
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switch (this->ratgdo_sensor_type_) {
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case RATGDOSensorType::RATGDO_OPENINGS:
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this->parent_->subscribe_openings([this](uint16_t value) {
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this->publish_state(value);
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});
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break;
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case RATGDOSensorType::RATGDO_DISTANCE:
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this->distance_sensor_.setI2cDevice(&I2C);
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this->distance_sensor_.setXShutPin(32);
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I2C.begin(19, 18);
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this->distance_sensor_.begin();
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this->distance_sensor_.VL53L4CX_Off();
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this->distance_sensor_.InitSensor(0x59);
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this->distance_sensor_.VL53L4CX_SetDistanceMode(VL53L4CX_DISTANCEMODE_LONG);
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this->distance_sensor_.VL53L4CX_StartMeasurement();
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this->parent_->subscribe_distance_measurement([this](int16_t value) {
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this->publish_state(value);
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});
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break;
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default:
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break;
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}
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}
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void RATGDOSensor::dump_config()
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{
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LOG_SENSOR("", "RATGDO Sensor", this);
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switch (this->ratgdo_sensor_type_) {
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case RATGDOSensorType::RATGDO_OPENINGS:
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ESP_LOGCONFIG(TAG, " Type: Openings");
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break;
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case RATGDOSensorType::RATGDO_DISTANCE:
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ESP_LOGCONFIG(TAG, " Type: Distance");
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break;
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default:
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break;
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}
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}
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void RATGDOSensor::loop()
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{
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if (this->ratgdo_sensor_type_ == RATGDOSensorType::RATGDO_DISTANCE) {
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VL53L4CX_MultiRangingData_t distanceData;
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VL53L4CX_MultiRangingData_t* pDistanceData = &distanceData;
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uint8_t dataReady = 0;
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int objCount = 0;
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int16_t maxDistance = -1;
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int status;
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if (this->distance_sensor_.VL53L4CX_GetMeasurementDataReady(&dataReady) == 0 && dataReady) {
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status = this->distance_sensor_.VL53L4CX_GetMultiRangingData(pDistanceData);
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objCount = pDistanceData->NumberOfObjectsFound;
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for (int i = 0; i < distanceData.NumberOfObjectsFound; i++) {
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VL53L4CX_TargetRangeData_t* d = &pDistanceData->RangeData[i];
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if (d->RangeStatus == 0) {
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maxDistance = std::max(maxDistance, d->RangeMilliMeter);
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maxDistance = maxDistance <= MIN_DISTANCE ? -1 : maxDistance;
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}
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}
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if (maxDistance < 0)
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maxDistance = MAX_DISTANCE;
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/*
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* if the sensor is pointed at glass, there are many error -1 readings which will fill the
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* vector with out of range data. The sensor should be sensitive enough to detect the floor
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* in most situations, but daylight and/or really high ceilings can cause long distance
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* measurements to be out of range.
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*/
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this->parent_->set_distance_measurement(maxDistance);
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// ESP_LOGD(TAG,"# obj found %d; distance %d",objCount, maxDistance);
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if (status == 0) {
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status = this->distance_sensor_.VL53L4CX_ClearInterruptAndStartMeasurement();
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}
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}
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}
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}
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} // namespace esphome::ratgdo
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