mirror of https://github.com/esphome/esphome.git
122 lines
4.0 KiB
Python
122 lines
4.0 KiB
Python
import esphome.codegen as cg
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import esphome.config_validation as cv
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from esphome import automation
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from esphome.const import CONF_ACCELERATION, CONF_DECELERATION, CONF_ID, CONF_MAX_SPEED, \
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CONF_POSITION, CONF_TARGET, CONF_SPEED
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from esphome.core import CORE, coroutine, coroutine_with_priority
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IS_PLATFORM_COMPONENT = True
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# pylint: disable=invalid-name
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stepper_ns = cg.esphome_ns.namespace('stepper')
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Stepper = stepper_ns.class_('Stepper')
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SetTargetAction = stepper_ns.class_('SetTargetAction', automation.Action)
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ReportPositionAction = stepper_ns.class_('ReportPositionAction', automation.Action)
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SetSpeedAction = stepper_ns.class_('SetSpeedAction', automation.Action)
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def validate_acceleration(value):
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value = cv.string(value)
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for suffix in ('steps/s^2', 'steps/s*s', 'steps/s/s', 'steps/ss', 'steps/(s*s)'):
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if value.endswith(suffix):
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value = value[:-len(suffix)]
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if value == 'inf':
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return 1e6
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try:
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value = float(value)
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except ValueError:
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raise cv.Invalid(f"Expected acceleration as floating point number, got {value}")
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if value <= 0:
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raise cv.Invalid("Acceleration must be larger than 0 steps/s^2!")
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return value
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def validate_speed(value):
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value = cv.string(value)
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for suffix in ('steps/s', 'steps/s'):
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if value.endswith(suffix):
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value = value[:-len(suffix)]
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if value == 'inf':
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return 1e6
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try:
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value = float(value)
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except ValueError:
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raise cv.Invalid(f"Expected speed as floating point number, got {value}")
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if value <= 0:
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raise cv.Invalid("Speed must be larger than 0 steps/s!")
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return value
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STEPPER_SCHEMA = cv.Schema({
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cv.Required(CONF_MAX_SPEED): validate_speed,
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cv.Optional(CONF_ACCELERATION, default='inf'): validate_acceleration,
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cv.Optional(CONF_DECELERATION, default='inf'): validate_acceleration,
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})
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@coroutine
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def setup_stepper_core_(stepper_var, config):
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if CONF_ACCELERATION in config:
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cg.add(stepper_var.set_acceleration(config[CONF_ACCELERATION]))
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if CONF_DECELERATION in config:
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cg.add(stepper_var.set_deceleration(config[CONF_DECELERATION]))
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if CONF_MAX_SPEED in config:
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cg.add(stepper_var.set_max_speed(config[CONF_MAX_SPEED]))
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@coroutine
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def register_stepper(var, config):
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if not CORE.has_id(config[CONF_ID]):
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var = cg.Pvariable(config[CONF_ID], var)
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yield setup_stepper_core_(var, config)
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@automation.register_action('stepper.set_target', SetTargetAction, cv.Schema({
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cv.Required(CONF_ID): cv.use_id(Stepper),
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cv.Required(CONF_TARGET): cv.templatable(cv.int_),
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}))
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def stepper_set_target_to_code(config, action_id, template_arg, args):
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paren = yield cg.get_variable(config[CONF_ID])
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var = cg.new_Pvariable(action_id, template_arg, paren)
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template_ = yield cg.templatable(config[CONF_TARGET], args, cg.int32)
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cg.add(var.set_target(template_))
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yield var
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@automation.register_action('stepper.report_position', ReportPositionAction, cv.Schema({
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cv.Required(CONF_ID): cv.use_id(Stepper),
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cv.Required(CONF_POSITION): cv.templatable(cv.int_),
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}))
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def stepper_report_position_to_code(config, action_id, template_arg, args):
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paren = yield cg.get_variable(config[CONF_ID])
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var = cg.new_Pvariable(action_id, template_arg, paren)
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template_ = yield cg.templatable(config[CONF_POSITION], args, cg.int32)
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cg.add(var.set_position(template_))
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yield var
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@automation.register_action('stepper.set_speed', SetSpeedAction, cv.Schema({
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cv.Required(CONF_ID): cv.use_id(Stepper),
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cv.Required(CONF_SPEED): cv.templatable(validate_speed),
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}))
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def stepper_set_speed_to_code(config, action_id, template_arg, args):
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paren = yield cg.get_variable(config[CONF_ID])
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var = cg.new_Pvariable(action_id, template_arg, paren)
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template_ = yield cg.templatable(config[CONF_SPEED], args, cg.int32)
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cg.add(var.set_speed(template_))
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yield var
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@coroutine_with_priority(100.0)
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def to_code(config):
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cg.add_global(stepper_ns.using)
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