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[he60r] Don't publish state unless it has changed. [BUGFIX] (#6869)
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@ -56,7 +56,7 @@ void HE60rCover::endstop_reached_(CoverOperation operation) {
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this->position = new_position;
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this->current_operation = COVER_OPERATION_IDLE;
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if (this->last_command_ == operation) {
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float dur = (now - this->start_dir_time_) / 1e3f;
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float dur = (float) (now - this->start_dir_time_) / 1e3f;
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ESP_LOGD(TAG, "'%s' - %s endstop reached. Took %.1fs.", this->name_.c_str(),
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operation == COVER_OPERATION_OPENING ? "Open" : "Close", dur);
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}
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@ -69,7 +69,6 @@ void HE60rCover::set_current_operation_(cover::CoverOperation operation) {
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this->current_operation = operation;
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if (operation != COVER_OPERATION_IDLE)
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this->last_recompute_time_ = millis();
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this->publish_state();
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}
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}
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@ -129,7 +128,7 @@ void HE60rCover::update_() {
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if (this->toggles_needed_ != 0) {
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if ((this->counter_++ & 0x3) == 0) {
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this->toggles_needed_--;
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ESP_LOGD(TAG, "Writing byte 0x30, still needed=%" PRIu32, this->toggles_needed_);
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ESP_LOGD(TAG, "Writing byte 0x30, still needed=%u", this->toggles_needed_);
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this->write_byte(TOGGLE_BYTE);
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} else {
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this->write_byte(QUERY_BYTE);
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@ -235,31 +234,28 @@ void HE60rCover::recompute_position_() {
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return;
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const uint32_t now = millis();
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float dir;
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float action_dur;
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switch (this->current_operation) {
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case COVER_OPERATION_OPENING:
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dir = 1.0f;
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action_dur = this->open_duration_;
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break;
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case COVER_OPERATION_CLOSING:
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dir = -1.0f;
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action_dur = this->close_duration_;
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break;
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default:
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return;
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}
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if (now > this->last_recompute_time_) {
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auto diff = now - last_recompute_time_;
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auto delta = dir * diff / action_dur;
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auto diff = (unsigned) (now - last_recompute_time_);
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float delta;
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switch (this->current_operation) {
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case COVER_OPERATION_OPENING:
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delta = (float) diff / (float) this->open_duration_;
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break;
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case COVER_OPERATION_CLOSING:
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delta = -(float) diff / (float) this->close_duration_;
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break;
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default:
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return;
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}
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// make sure our guesstimate never reaches full open or close.
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this->position = clamp(delta + this->position, COVER_CLOSED + 0.01f, COVER_OPEN - 0.01f);
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ESP_LOGD(TAG, "Recompute %dms, dir=%f, action_dur=%f, delta=%f, pos=%f", (int) diff, dir, action_dur, delta,
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this->position);
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auto new_position = clamp(delta + this->position, COVER_CLOSED + 0.01f, COVER_OPEN - 0.01f);
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ESP_LOGD(TAG, "Recompute %ums, dir=%u, delta=%f, pos=%f", diff, this->current_operation, delta, new_position);
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this->last_recompute_time_ = now;
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this->publish_state();
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if (this->position != new_position) {
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this->position = new_position;
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this->publish_state();
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}
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}
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}
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@ -25,15 +25,14 @@ class HE60rCover : public cover::Cover, public Component, public uart::UARTDevic
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void control(const cover::CoverCall &call) override;
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bool is_at_target_() const;
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void start_direction_(cover::CoverOperation dir);
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void update_operation_(cover::CoverOperation dir);
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void endstop_reached_(cover::CoverOperation operation);
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void recompute_position_();
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void set_current_operation_(cover::CoverOperation operation);
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void process_rx_(uint8_t data);
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uint32_t open_duration_{0};
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uint32_t close_duration_{0};
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uint32_t toggles_needed_{0};
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unsigned open_duration_{0};
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unsigned close_duration_{0};
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unsigned toggles_needed_{0};
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cover::CoverOperation next_direction_{cover::COVER_OPERATION_IDLE};
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cover::CoverOperation last_command_{cover::COVER_OPERATION_IDLE};
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uint32_t last_recompute_time_{0};
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