mirror of
https://github.com/esphome/esphome.git
synced 2025-09-25 06:32:22 +01:00
🏗 Merge C++ into python codebase (#504)
## Description: Move esphome-core codebase into esphome (and a bunch of other refactors). See https://github.com/esphome/feature-requests/issues/97 Yes this is a shit ton of work and no there's no way to automate it :( But it will be worth it 👍 Progress: - Core support (file copy etc): 80% - Base Abstractions (light, switch): ~50% - Integrations: ~10% - Working? Yes, (but only with ported components). Other refactors: - Moves all codegen related stuff into a single class: `esphome.codegen` (imported as `cg`) - Rework coroutine syntax - Move from `component/platform.py` to `domain/component.py` structure as with HA - Move all defaults out of C++ and into config validation. - Remove `make_...` helpers from Application class. Reason: Merge conflicts with every single new integration. - Pointer Variables are stored globally instead of locally in setup(). Reason: stack size limit. Future work: - Rework const.py - Move all `CONF_...` into a conf class (usage `conf.UPDATE_INTERVAL` vs `CONF_UPDATE_INTERVAL`). Reason: Less convoluted import block - Enable loading from `custom_components` folder. **Related issue (if applicable):** https://github.com/esphome/feature-requests/issues/97 **Pull request in [esphome-docs](https://github.com/esphome/esphome-docs) with documentation (if applicable):** esphome/esphome-docs#<esphome-docs PR number goes here> ## Checklist: - [ ] The code change is tested and works locally. - [ ] Tests have been added to verify that the new code works (under `tests/` folder). If user exposed functionality or configuration variables are added/changed: - [ ] Documentation added/updated in [esphomedocs](https://github.com/OttoWinter/esphomedocs).
This commit is contained in:
Otto Winter
GitHub
@@ -1,23 +1,18 @@
|
||||
import voluptuous as vol
|
||||
|
||||
from esphome.automation import ACTION_REGISTRY
|
||||
import esphome.codegen as cg
|
||||
import esphome.config_validation as cv
|
||||
from esphome.automation import ACTION_REGISTRY
|
||||
from esphome.const import CONF_ACCELERATION, CONF_DECELERATION, CONF_ID, CONF_MAX_SPEED, \
|
||||
CONF_POSITION, CONF_TARGET
|
||||
from esphome.core import CORE
|
||||
from esphome.cpp_generator import Pvariable, add, get_variable, templatable
|
||||
from esphome.cpp_types import Action, esphome_ns, int32
|
||||
from esphome.core import CORE, coroutine
|
||||
|
||||
PLATFORM_SCHEMA = cv.PLATFORM_SCHEMA.extend({
|
||||
|
||||
})
|
||||
IS_PLATFORM_COMPONENT = True
|
||||
|
||||
# pylint: disable=invalid-name
|
||||
stepper_ns = esphome_ns.namespace('stepper')
|
||||
stepper_ns = cg.esphome_ns.namespace('stepper')
|
||||
Stepper = stepper_ns.class_('Stepper')
|
||||
|
||||
SetTargetAction = stepper_ns.class_('SetTargetAction', Action)
|
||||
ReportPositionAction = stepper_ns.class_('ReportPositionAction', Action)
|
||||
SetTargetAction = stepper_ns.class_('SetTargetAction', cg.Action)
|
||||
ReportPositionAction = stepper_ns.class_('ReportPositionAction', cg.Action)
|
||||
|
||||
|
||||
def validate_acceleration(value):
|
||||
@@ -32,10 +27,10 @@ def validate_acceleration(value):
|
||||
try:
|
||||
value = float(value)
|
||||
except ValueError:
|
||||
raise vol.Invalid("Expected acceleration as floating point number, got {}".format(value))
|
||||
raise cv.Invalid("Expected acceleration as floating point number, got {}".format(value))
|
||||
|
||||
if value <= 0:
|
||||
raise vol.Invalid("Acceleration must be larger than 0 steps/s^2!")
|
||||
raise cv.Invalid("Acceleration must be larger than 0 steps/s^2!")
|
||||
|
||||
return value
|
||||
|
||||
@@ -52,69 +47,65 @@ def validate_speed(value):
|
||||
try:
|
||||
value = float(value)
|
||||
except ValueError:
|
||||
raise vol.Invalid("Expected speed as floating point number, got {}".format(value))
|
||||
raise cv.Invalid("Expected speed as floating point number, got {}".format(value))
|
||||
|
||||
if value <= 0:
|
||||
raise vol.Invalid("Speed must be larger than 0 steps/s!")
|
||||
raise cv.Invalid("Speed must be larger than 0 steps/s!")
|
||||
|
||||
return value
|
||||
|
||||
|
||||
STEPPER_SCHEMA = cv.Schema({
|
||||
vol.Required(CONF_MAX_SPEED): validate_speed,
|
||||
vol.Optional(CONF_ACCELERATION): validate_acceleration,
|
||||
vol.Optional(CONF_DECELERATION): validate_acceleration,
|
||||
cv.Required(CONF_MAX_SPEED): validate_speed,
|
||||
cv.Optional(CONF_ACCELERATION, default='inf'): validate_acceleration,
|
||||
cv.Optional(CONF_DECELERATION, default='inf'): validate_acceleration,
|
||||
})
|
||||
|
||||
STEPPER_PLATFORM_SCHEMA = PLATFORM_SCHEMA.extend(STEPPER_SCHEMA.schema)
|
||||
|
||||
|
||||
@coroutine
|
||||
def setup_stepper_core_(stepper_var, config):
|
||||
if CONF_ACCELERATION in config:
|
||||
add(stepper_var.set_acceleration(config[CONF_ACCELERATION]))
|
||||
cg.add(stepper_var.set_acceleration(config[CONF_ACCELERATION]))
|
||||
if CONF_DECELERATION in config:
|
||||
add(stepper_var.set_deceleration(config[CONF_DECELERATION]))
|
||||
cg.add(stepper_var.set_deceleration(config[CONF_DECELERATION]))
|
||||
if CONF_MAX_SPEED in config:
|
||||
add(stepper_var.set_max_speed(config[CONF_MAX_SPEED]))
|
||||
cg.add(stepper_var.set_max_speed(config[CONF_MAX_SPEED]))
|
||||
|
||||
|
||||
def setup_stepper(stepper_var, config):
|
||||
CORE.add_job(setup_stepper_core_, stepper_var, config)
|
||||
@coroutine
|
||||
def register_stepper(var, config):
|
||||
if not CORE.has_id(config[CONF_ID]):
|
||||
var = cg.Pvariable(config[CONF_ID], var)
|
||||
yield setup_stepper_core_(var, config)
|
||||
|
||||
|
||||
BUILD_FLAGS = '-DUSE_STEPPER'
|
||||
|
||||
CONF_STEPPER_SET_TARGET = 'stepper.set_target'
|
||||
STEPPER_SET_TARGET_ACTION_SCHEMA = cv.Schema({
|
||||
vol.Required(CONF_ID): cv.use_variable_id(Stepper),
|
||||
vol.Required(CONF_TARGET): cv.templatable(cv.int_),
|
||||
})
|
||||
|
||||
|
||||
@ACTION_REGISTRY.register(CONF_STEPPER_SET_TARGET, STEPPER_SET_TARGET_ACTION_SCHEMA)
|
||||
@ACTION_REGISTRY.register('stepper.set_target', cv.Schema({
|
||||
cv.Required(CONF_ID): cv.use_variable_id(Stepper),
|
||||
cv.Required(CONF_TARGET): cv.templatable(cv.int_),
|
||||
}))
|
||||
def stepper_set_target_to_code(config, action_id, template_arg, args):
|
||||
var = yield get_variable(config[CONF_ID])
|
||||
rhs = var.make_set_target_action(template_arg)
|
||||
var = yield cg.get_variable(config[CONF_ID])
|
||||
type = SetTargetAction.template(template_arg)
|
||||
action = Pvariable(action_id, rhs, type=type)
|
||||
template_ = yield templatable(config[CONF_TARGET], args, int32)
|
||||
add(action.set_target(template_))
|
||||
rhs = type.new(var)
|
||||
action = cg.Pvariable(action_id, rhs, type=type)
|
||||
template_ = yield cg.templatable(config[CONF_TARGET], args, cg.int32)
|
||||
cg.add(action.set_target(template_))
|
||||
yield action
|
||||
|
||||
|
||||
CONF_STEPPER_REPORT_POSITION = 'stepper.report_position'
|
||||
STEPPER_REPORT_POSITION_ACTION_SCHEMA = cv.Schema({
|
||||
vol.Required(CONF_ID): cv.use_variable_id(Stepper),
|
||||
vol.Required(CONF_POSITION): cv.templatable(cv.int_),
|
||||
})
|
||||
|
||||
|
||||
@ACTION_REGISTRY.register(CONF_STEPPER_REPORT_POSITION, STEPPER_REPORT_POSITION_ACTION_SCHEMA)
|
||||
@ACTION_REGISTRY.register('stepper.report_position', cv.Schema({
|
||||
cv.Required(CONF_ID): cv.use_variable_id(Stepper),
|
||||
cv.Required(CONF_POSITION): cv.templatable(cv.int_),
|
||||
}))
|
||||
def stepper_report_position_to_code(config, action_id, template_arg, args):
|
||||
var = yield get_variable(config[CONF_ID])
|
||||
rhs = var.make_report_position_action(template_arg)
|
||||
var = yield cg.get_variable(config[CONF_ID])
|
||||
type = ReportPositionAction.template(template_arg)
|
||||
action = Pvariable(action_id, rhs, type=type)
|
||||
template_ = yield templatable(config[CONF_POSITION], args, int32)
|
||||
add(action.set_position(template_))
|
||||
rhs = type.new(var)
|
||||
action = cg.Pvariable(action_id, rhs, type=type)
|
||||
template_ = yield cg.templatable(config[CONF_POSITION], args, cg.int32)
|
||||
cg.add(action.set_position(template_))
|
||||
yield action
|
||||
|
||||
|
||||
def to_code(config):
|
||||
cg.add_global(stepper_ns.using)
|
||||
|
||||
@@ -1,35 +0,0 @@
|
||||
import voluptuous as vol
|
||||
|
||||
from esphome import pins
|
||||
from esphome.components import stepper
|
||||
import esphome.config_validation as cv
|
||||
from esphome.const import CONF_DIR_PIN, CONF_ID, CONF_SLEEP_PIN, CONF_STEP_PIN
|
||||
from esphome.cpp_generator import Pvariable, add
|
||||
from esphome.cpp_helpers import gpio_output_pin_expression, setup_component
|
||||
from esphome.cpp_types import App, Component
|
||||
|
||||
A4988 = stepper.stepper_ns.class_('A4988', stepper.Stepper, Component)
|
||||
|
||||
PLATFORM_SCHEMA = stepper.STEPPER_PLATFORM_SCHEMA.extend({
|
||||
vol.Required(CONF_ID): cv.declare_variable_id(A4988),
|
||||
vol.Required(CONF_STEP_PIN): pins.gpio_output_pin_schema,
|
||||
vol.Required(CONF_DIR_PIN): pins.gpio_output_pin_schema,
|
||||
vol.Optional(CONF_SLEEP_PIN): pins.gpio_output_pin_schema,
|
||||
}).extend(cv.COMPONENT_SCHEMA.schema)
|
||||
|
||||
|
||||
def to_code(config):
|
||||
step_pin = yield gpio_output_pin_expression(config[CONF_STEP_PIN])
|
||||
dir_pin = yield gpio_output_pin_expression(config[CONF_DIR_PIN])
|
||||
rhs = App.make_a4988(step_pin, dir_pin)
|
||||
a4988 = Pvariable(config[CONF_ID], rhs)
|
||||
|
||||
if CONF_SLEEP_PIN in config:
|
||||
sleep_pin = yield gpio_output_pin_expression(config[CONF_SLEEP_PIN])
|
||||
add(a4988.set_sleep_pin(sleep_pin))
|
||||
|
||||
stepper.setup_stepper(a4988, config)
|
||||
setup_component(a4988, config)
|
||||
|
||||
|
||||
BUILD_FLAGS = '-DUSE_A4988'
|
||||
50
esphome/components/stepper/stepper.cpp
Normal file
50
esphome/components/stepper/stepper.cpp
Normal file
@@ -0,0 +1,50 @@
|
||||
#include "stepper.h"
|
||||
#include "esphome/core/log.h"
|
||||
|
||||
namespace esphome {
|
||||
namespace stepper {
|
||||
|
||||
static const char *TAG = "stepper";
|
||||
|
||||
void Stepper::calculate_speed_(uint32_t now) {
|
||||
// delta t since last calculation in seconds
|
||||
float dt = (now - this->last_calculation_) * 1e-6f;
|
||||
this->last_calculation_ = now;
|
||||
if (this->has_reached_target()) {
|
||||
this->current_speed_ = 0.0f;
|
||||
return;
|
||||
}
|
||||
|
||||
int32_t num_steps = abs(int32_t(this->target_position) - int32_t(this->current_position));
|
||||
// (v_0)^2 / 2*a
|
||||
float v_squared = this->current_speed_ * this->current_speed_;
|
||||
auto steps_to_decelerate = static_cast<int32_t>(v_squared / (2 * this->deceleration_));
|
||||
if (num_steps <= steps_to_decelerate) {
|
||||
// need to start decelerating
|
||||
this->current_speed_ -= this->deceleration_ * dt;
|
||||
} else {
|
||||
// we can still accelerate
|
||||
this->current_speed_ += this->acceleration_ * dt;
|
||||
}
|
||||
this->current_speed_ = clamp(this->current_speed_, 0.0f, this->max_speed_);
|
||||
}
|
||||
int32_t Stepper::should_step_() {
|
||||
uint32_t now = micros();
|
||||
this->calculate_speed_(now);
|
||||
if (this->current_speed_ == 0.0f)
|
||||
return 0;
|
||||
|
||||
// assumes this method is called in a constant interval
|
||||
uint32_t dt = now - this->last_step_;
|
||||
if (dt >= (1 / this->current_speed_) * 1e6f) {
|
||||
int32_t mag = this->target_position > this->current_position ? 1 : -1;
|
||||
this->last_step_ = now;
|
||||
this->current_position += mag;
|
||||
return mag;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
} // namespace stepper
|
||||
} // namespace esphome
|
||||
70
esphome/components/stepper/stepper.h
Normal file
70
esphome/components/stepper/stepper.h
Normal file
@@ -0,0 +1,70 @@
|
||||
#pragma once
|
||||
|
||||
#include "esphome/core/component.h"
|
||||
#include "esphome/core/automation.h"
|
||||
#include "esphome/components/stepper/stepper.h"
|
||||
|
||||
namespace esphome {
|
||||
namespace stepper {
|
||||
|
||||
#define LOG_STEPPER(this) \
|
||||
ESP_LOGCONFIG(TAG, " Acceleration: %.0f steps/s^2", this->acceleration_); \
|
||||
ESP_LOGCONFIG(TAG, " Deceleration: %.0f steps/s^2", this->deceleration_); \
|
||||
ESP_LOGCONFIG(TAG, " Max Speed: %.0f steps/s", this->max_speed_);
|
||||
|
||||
class Stepper {
|
||||
public:
|
||||
void set_target(int32_t steps) { this->target_position = steps; }
|
||||
void report_position(int32_t steps) { this->current_position = steps; }
|
||||
void set_acceleration(float acceleration) { this->acceleration_ = acceleration; }
|
||||
void set_deceleration(float deceleration) { this->deceleration_ = deceleration; }
|
||||
void set_max_speed(float max_speed) { this->max_speed_ = max_speed; }
|
||||
bool has_reached_target() { return this->current_position == this->target_position; }
|
||||
|
||||
int32_t current_position{0};
|
||||
int32_t target_position{0};
|
||||
|
||||
protected:
|
||||
void calculate_speed_(uint32_t now);
|
||||
int32_t should_step_();
|
||||
|
||||
float acceleration_{1e6f};
|
||||
float deceleration_{1e6f};
|
||||
float current_speed_{0.0f};
|
||||
float max_speed_{1e6f};
|
||||
uint32_t last_calculation_{0};
|
||||
uint32_t last_step_{0};
|
||||
};
|
||||
|
||||
template<typename... Ts> class SetTargetAction : public Action<Ts...> {
|
||||
public:
|
||||
explicit SetTargetAction(Stepper *parent) : parent_(parent) {}
|
||||
|
||||
TEMPLATABLE_VALUE(int32_t, target)
|
||||
|
||||
void play(Ts... x) override {
|
||||
this->parent_->set_target(this->target_.value(x...));
|
||||
this->play_next(x...);
|
||||
}
|
||||
|
||||
protected:
|
||||
Stepper *parent_;
|
||||
};
|
||||
|
||||
template<typename... Ts> class ReportPositionAction : public Action<Ts...> {
|
||||
public:
|
||||
explicit ReportPositionAction(Stepper *parent) : parent_(parent) {}
|
||||
|
||||
TEMPLATABLE_VALUE(int32_t, position)
|
||||
|
||||
void play(Ts... x) override {
|
||||
this->parent_->report_position(this->position_.value(x...));
|
||||
this->play_next(x...);
|
||||
}
|
||||
|
||||
protected:
|
||||
Stepper *parent_;
|
||||
};
|
||||
|
||||
} // namespace stepper
|
||||
} // namespace esphome
|
||||
@@ -1,51 +0,0 @@
|
||||
import voluptuous as vol
|
||||
|
||||
from esphome import pins
|
||||
from esphome.components import stepper
|
||||
import esphome.config_validation as cv
|
||||
from esphome.const import CONF_ID, CONF_PIN_A, CONF_PIN_B, CONF_PIN_C, CONF_PIN_D, \
|
||||
CONF_SLEEP_WHEN_DONE, CONF_STEP_MODE
|
||||
from esphome.cpp_generator import Pvariable, add
|
||||
from esphome.cpp_helpers import gpio_output_pin_expression, setup_component
|
||||
from esphome.cpp_types import App, Component
|
||||
|
||||
ULN2003StepMode = stepper.stepper_ns.enum('ULN2003StepMode')
|
||||
|
||||
STEP_MODES = {
|
||||
'FULL_STEP': ULN2003StepMode.ULN2003_STEP_MODE_FULL_STEP,
|
||||
'HALF_STEP': ULN2003StepMode.ULN2003_STEP_MODE_HALF_STEP,
|
||||
'WAVE_DRIVE': ULN2003StepMode.ULN2003_STEP_MODE_WAVE_DRIVE,
|
||||
}
|
||||
|
||||
ULN2003 = stepper.stepper_ns.class_('ULN2003', stepper.Stepper, Component)
|
||||
|
||||
PLATFORM_SCHEMA = stepper.STEPPER_PLATFORM_SCHEMA.extend({
|
||||
vol.Required(CONF_ID): cv.declare_variable_id(ULN2003),
|
||||
vol.Required(CONF_PIN_A): pins.gpio_output_pin_schema,
|
||||
vol.Required(CONF_PIN_B): pins.gpio_output_pin_schema,
|
||||
vol.Required(CONF_PIN_C): pins.gpio_output_pin_schema,
|
||||
vol.Required(CONF_PIN_D): pins.gpio_output_pin_schema,
|
||||
vol.Optional(CONF_SLEEP_WHEN_DONE): cv.boolean,
|
||||
vol.Optional(CONF_STEP_MODE): cv.one_of(*STEP_MODES, upper=True, space='_')
|
||||
}).extend(cv.COMPONENT_SCHEMA.schema)
|
||||
|
||||
|
||||
def to_code(config):
|
||||
pin_a = yield gpio_output_pin_expression(config[CONF_PIN_A])
|
||||
pin_b = yield gpio_output_pin_expression(config[CONF_PIN_B])
|
||||
pin_c = yield gpio_output_pin_expression(config[CONF_PIN_C])
|
||||
pin_d = yield gpio_output_pin_expression(config[CONF_PIN_D])
|
||||
rhs = App.make_uln2003(pin_a, pin_b, pin_c, pin_d)
|
||||
uln = Pvariable(config[CONF_ID], rhs)
|
||||
|
||||
if CONF_SLEEP_WHEN_DONE in config:
|
||||
add(uln.set_sleep_when_done(config[CONF_SLEEP_WHEN_DONE]))
|
||||
|
||||
if CONF_STEP_MODE in config:
|
||||
add(uln.set_step_mode(STEP_MODES[config[CONF_STEP_MODE]]))
|
||||
|
||||
stepper.setup_stepper(uln, config)
|
||||
setup_component(uln, config)
|
||||
|
||||
|
||||
BUILD_FLAGS = '-DUSE_ULN2003'
|
||||
Reference in New Issue
Block a user