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esphome-ratgdo
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Small cleanup to make setDoorPosition more DRY (#21) 

* Small cleanup to make setDoorPosition more DRY
This commit is contained in:
J. Nick Koston 2023-06-25 18:43:00 -05:00 committed by GitHub
parent f1993931a7
commit 78858628cf
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 50 additions and 50 deletions
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102
components/ratgdo/ratgdo.cpp
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@ -186,24 +186,24 @@ namespace ratgdo {
this->doorState = static_cast<DoorState>(nibble);
if (this->doorState == DoorState::DOOR_STATE_OPENING && this->previousDoorState==DoorState::DOOR_STATE_CLOSED) {
if (this->doorState == DoorState::DOOR_STATE_OPENING && this->previousDoorState == DoorState::DOOR_STATE_CLOSED) {
this->startOpening = millis();
}
if (this->doorState == DoorState::DOOR_STATE_OPEN && this->previousDoorState==DoorState::DOOR_STATE_OPENING) {
if (this->doorState == DoorState::DOOR_STATE_OPEN && this->previousDoorState == DoorState::DOOR_STATE_OPENING) {
if (this->startOpening > 0) {
auto duration = (millis() - this->startOpening)/1000;
duration = this->openingDuration > 0 ? (duration + this->openingDuration)/2 : duration;
this->setOpeningDuration(round(duration*10)/10);
auto duration = (millis() - this->startOpening) / 1000;
duration = this->openingDuration > 0 ? (duration + this->openingDuration) / 2 : duration;
this->setOpeningDuration(round(duration * 10) / 10);
}
}
if (this->doorState == DoorState::DOOR_STATE_CLOSING && this->previousDoorState==DoorState::DOOR_STATE_OPEN) {
if (this->doorState == DoorState::DOOR_STATE_CLOSING && this->previousDoorState == DoorState::DOOR_STATE_OPEN) {
this->startClosing = millis();
}
if (this->doorState == DoorState::DOOR_STATE_CLOSED && this->previousDoorState==DoorState::DOOR_STATE_CLOSING) {
if (this->doorState == DoorState::DOOR_STATE_CLOSED && this->previousDoorState == DoorState::DOOR_STATE_CLOSING) {
if (this->startClosing > 0) {
auto duration = (millis() - this->startClosing)/1000;
duration = this->closingDuration > 0 ? (duration + this->closingDuration)/2 : duration;
this->setClosingDuration(round(duration*10)/10);
auto duration = (millis() - this->startClosing) / 1000;
duration = this->closingDuration > 0 ? (duration + this->closingDuration) / 2 : duration;
this->setClosingDuration(round(duration * 10) / 10);
}
}
if (this->doorState == DoorState::DOOR_STATE_STOPPED) {
@ -632,37 +632,38 @@ namespace ratgdo {
doorCommand(data::DOOR_TOGGLE);
}
void RATGDOComponent::positionSyncWhileOpening(float delta, float update_period) {
if (this->openingDuration==0) {
void RATGDOComponent::positionSyncWhileOpening(float delta, float update_period)
{
if (this->openingDuration == 0) {
ESP_LOGW(TAG, "I don't know opening duration, ignoring position sync");
return;
}
auto updates = this->openingDuration * 1000 * delta/update_period;
auto d = delta/updates;
auto updates = this->openingDuration * 1000 * delta / update_period;
auto position_update = delta / updates;
auto count = int(updates);
ESP_LOGD(TAG, "[Opening] Position sync %d times: ", count);
// try to keep position in sync while door is moving
set_retry("position_sync_while_moving", update_period, count, [=](uint8_t r) {
ESP_LOGD(TAG, "[Opening] Position sync: %d: ", r);
this->doorPosition += d;
this->doorPosition += position_update;
return RetryResult::RETRY;
});
}
void RATGDOComponent::positionSyncWhileClosing(float delta, float update_period) {
if (this->closingDuration==0) {
void RATGDOComponent::positionSyncWhileClosing(float delta, float update_period)
{
if (this->closingDuration == 0) {
ESP_LOGW(TAG, "I don't know closing duration, ignoring position sync");
return;
}
auto updates = this->closingDuration * 1000 * delta/update_period;
auto d = delta/updates;
auto updates = this->closingDuration * 1000 * delta / update_period;
auto position_update = delta / updates;
auto count = int(updates);
ESP_LOGD(TAG, "[Closing] Position sync %d times: ", count);
// try to keep position in sync while door is moving
set_retry("position_sync_while_moving", update_period, count, [=](uint8_t r) {
ESP_LOGD(TAG, "[Closing] Position sync: %d: ", r);
this->doorPosition -= d;
this->doorPosition -= position_update;
return RetryResult::RETRY;
});
}
@ -675,39 +676,38 @@ namespace ratgdo {
}
auto delta = position - this->doorPosition;
if (delta > 0) { // open
if (this->openingDuration==0) {
ESP_LOGW(TAG, "I don't know opening duration, ignoring move to position");
if (delta == 0) {
ESP_LOGD(TAG, "Door is already at position %.2f", position);
return;
}
auto opening_time = this->openingDuration * 1000 * delta;
doorCommand(data::DOOR_OPEN);
this->movingToPosition = true;
set_timeout("move_to_position", opening_time, [=] {
doorCommand(data::DOOR_STOP);
this->movingToPosition = false;
this->doorPosition = position;
});
this->positionSyncWhileOpening(delta);
} else if (delta < 0) { // close
if (this->closingDuration==0) {
ESP_LOGW(TAG, "I don't know closing duration, ignoring move to position");
return;
}
delta = -delta;
auto closing_time = this->closingDuration * 1000 * delta;
doorCommand(data::DOOR_CLOSE);
this->movingToPosition = true;
set_timeout("move_to_position", closing_time, [=] {
doorCommand(data::DOOR_STOP);
this->movingToPosition = false;
this->doorPosition = position;
});
this->positionSyncWhileClosing(delta);
}
}
void RATGDOComponent::cancelPositionSyncCallbacks() {
auto duration = delta > 0 ? this->openingDuration : this->closingDuration;
if (duration == 0) {
ESP_LOGW(TAG, "I don't know duration, ignoring move to position");
return;
}
if (delta > 0) { // open
doorCommand(data::DOOR_OPEN);
this->positionSyncWhileOpening(delta);
} else { // close
delta = -delta;
doorCommand(data::DOOR_CLOSE);
this->positionSyncWhileClosing(delta);
}
auto operation_time = duration * 1000 * delta;
ESP_LOGD(TAG, "Moving to position %.2f in %.1fs", position, operation_time / 1000.0)
this->movingToPosition = true;
set_timeout("move_to_position", operation_time, [=] {
doorCommand(data::DOOR_STOP);
this->movingToPosition = false;
this->doorPosition = position;
});
}
void RATGDOComponent::cancelPositionSyncCallbacks()
{
if (this->movingToPosition) {
ESP_LOGD(TAG, "Cancelling position callbacks");
cancel_timeout("move_to_position");