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ld2450-base.yaml
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ld2450-base.yaml
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esphome:
on_boot:
priority: -100
then:
- button.press: get_mmwave_firmware
- binary_sensor.template.publish:
id: zone1_occupancy
state: false
- binary_sensor.template.publish:
id: zone2_occupancy
state: false
- binary_sensor.template.publish:
id: zone3_occupancy
state: false
- binary_sensor.template.publish:
id: zone4_occupancy
state: false
globals:
- id: mmwave_update_time
type: unsigned long
restore_value: no
initial_value: '0'
text_sensor:
- platform: template
disabled_by_default: True
name: "mmWave Firmware"
id: "firmware_version"
button:
- platform: template
id: get_mmwave_firmware
internal: True
entity_category: config
disabled_by_default: True
on_press:
then:
- switch.turn_on: mmwave_configuration
- delay: 1s
- uart.write:
id: uart_bus
data: [0xFD, 0xFC, 0xFB, 0xFA, 0x02, 0x00, 0xA0, 0x00, 0x04, 0x03, 0x02, 0x01]
- lambda: |-
uint8_t response[20];
if (id(uart_bus).read_array(response, 20)) {
int firmware_major = response[13];
int firmware_minor = response[12];
char firmware_version_str[32];
sprintf(firmware_version_str, "V%d.%02d", firmware_major, firmware_minor);
id(firmware_version).publish_state(std::string(firmware_version_str));
} else {
id(firmware_version).publish_state("Unknown");
}
- switch.turn_off: mmwave_configuration
- delay: 1s
- platform: template
name: "Reboot mmWave Sensor"
id: reboot_mmwave_sensor
disabled_by_default: True
entity_category: config
on_press:
then:
- uart.write:
id: uart_bus
data: [0xFD, 0xFC, 0xFB, 0xFA, 0x02, 0x00, 0xA3, 0x00, 0x04, 0x03, 0x02, 0x01]
- platform: template
name: "Factory Reset mmWave Sensor"
id: factory_reset_mmwave_sensor
disabled_by_default: True
entity_category: config
on_press:
then:
- logger.log: "Performing Factory Reset"
- switch.turn_on: mmwave_configuration
- delay: 2s
- uart.write:
id: uart_bus
data: [0xFD, 0xFC, 0xFB, 0xFA, 0x02, 0x00, 0xA2, 0x00, 0x04, 0x03, 0x02, 0x01]
- delay: 2s
- switch.turn_off: mmwave_configuration
- delay: 2s
- button.press: reboot_mmwave_sensor
switch:
- platform: template
name: "mmWave Configuration Mode"
id: mmwave_configuration
disabled_by_default: True
internal: True
entity_category: config
optimistic: true
restore_mode: DISABLED
turn_on_action:
- uart.write:
id: uart_bus
data: [0xFD, 0xFC, 0xFB, 0xFA, 0x04, 0x00, 0xFF, 0x00, 0x01, 0x00, 0x04, 0x03, 0x02, 0x01]
turn_off_action:
- uart.write:
id: uart_bus
data: [0xFD, 0xFC, 0xFB, 0xFA, 0x02, 0x00, 0xFE, 0x00, 0x04, 0x03, 0x02, 0x01]
- platform: template
name: "mmWave Bluetooth"
id: bluetooth_switch
optimistic: true
disabled_by_default: True
entity_category: config
turn_on_action:
- switch.turn_on: mmwave_configuration
- delay: 2s
- uart.write:
id: uart_bus
data: [0xFD, 0xFC, 0xFB, 0xFA, 0x04, 0x00, 0xA4, 0x00, 0x01, 0x00, 0x04, 0x03, 0x02, 0x01] # Turn on Bluetooth
- delay: 2s
- button.press: reboot_mmwave_sensor # Reboot after enabling Bluetooth
- delay: 2s
- switch.turn_off: mmwave_configuration
turn_off_action:
- switch.turn_on: mmwave_configuration
- delay: 2s
- uart.write:
id: uart_bus
data: [0xFD, 0xFC, 0xFB, 0xFA, 0x04, 0x00, 0xA4, 0x00, 0x00, 0x00, 0x04, 0x03, 0x02, 0x01] # Turn off Bluetooth
- delay: 2s
- button.press: reboot_mmwave_sensor # Reboot after enabling Bluetooth
- delay: 2s
- switch.turn_off: mmwave_configuration
binary_sensor:
- platform: template
name: "Occupancy"
device_class: occupancy
id: occupancy
filters:
- delayed_off: !lambda return (id(off_delay).state * 1000);
- platform: template
name: "Zone 1 Occupancy"
device_class: occupancy
id: zone1_occupancy
filters:
- delayed_off: !lambda return (id(zone_1_off_delay).state * 1000);
- platform: template
name: "Zone 2 Occupancy"
device_class: occupancy
id: zone2_occupancy
filters:
- delayed_off: !lambda return (id(zone_2_off_delay).state * 1000);
disabled_by_default: true
- platform: template
name: "Zone 3 Occupancy"
device_class: occupancy
id: zone3_occupancy
filters:
- delayed_off: !lambda return (id(zone_3_off_delay).state * 1000);
disabled_by_default: true
- platform: template
name: "Zone 4 Occupancy"
device_class: occupancy
id: zone4_occupancy
filters:
- delayed_off: !lambda return (id(zone_4_off_delay).state * 1000);
disabled_by_default: true
- platform: template
name: "Target 1 Active"
id: target1_active
- platform: template
name: "Target 2 Active"
id: target2_active
- platform: template
name: "Target 3 Active"
id: target3_active
number:
- platform: template
name: "Occupancy Off Delay"
id: off_delay
max_value: 600
min_value: 0
step: 1
optimistic: True
restore_value: True
unit_of_measurement: "s"
initial_value: 15
- platform: template
name: "Max Distance"
id: distance
max_value: 600
min_value: 0
unit_of_measurement: "cm"
step: 1
optimistic: True
restore_value: True
initial_value: 600
- platform: template
name: "Installation Angle"
id: installation_angle_ui
unit_of_measurement: "º"
min_value: -45
max_value: 45
step: 1
update_interval: never
optimistic: true
restore_value: true
initial_value: 0
icon: "mdi:angle-acute"
entity_category: config
- platform: template
name: "Zone 1 Begin X"
id: zone1_begin_x
max_value: 6000
min_value: -6000
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
initial_value: -4000
- platform: template
name: "Zone 1 End X"
id: zone1_end_x
max_value: 6000
min_value: -6000
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
initial_value: 4000
- platform: template
name: "Zone 1 Begin Y"
id: zone1_begin_y
max_value: 6000
min_value: -1560 # if epl is rotated 45deg, a target could be detected at negative values: -6000*sin(60deg-45deg) = ~-1552
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
initial_value: 0
- platform: template
name: "Zone 1 End Y"
id: zone1_end_y
max_value: 6000
min_value: -1560
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
initial_value: 6000
- platform: template
name: "Zone 1 Occupancy Off Delay"
id: zone_1_off_delay
max_value: 600
min_value: 0
step: 1
optimistic: True
restore_value: True
unit_of_measurement: "s"
initial_value: 15
- platform: template
name: "Zone 2 Begin X"
id: zone2_begin_x
max_value: 6000
min_value: -6000
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
disabled_by_default: true
- platform: template
name: "Zone 2 End X"
id: zone2_end_x
max_value: 6000
min_value: -6000
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
disabled_by_default: true
- platform: template
name: "Zone 2 Begin Y"
id: zone2_begin_y
max_value: 6000
min_value: -1560
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
disabled_by_default: true
- platform: template
name: "Zone 2 End Y"
id: zone2_end_y
max_value: 6000
min_value: -1560
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
disabled_by_default: true
- platform: template
name: "Zone 2 Occupancy Off Delay"
id: zone_2_off_delay
max_value: 600
min_value: 0
step: 1
optimistic: True
restore_value: True
unit_of_measurement: "s"
initial_value: 15
disabled_by_default: true
- platform: template
name: "Zone 3 Begin X"
id: zone3_begin_x
max_value: 6000
min_value: -6000
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
disabled_by_default: true
- platform: template
name: "Zone 3 End X"
id: zone3_end_x
max_value: 6000
min_value: -6000
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
disabled_by_default: true
- platform: template
name: "Zone 3 Begin Y"
id: zone3_begin_y
max_value: 6000
min_value: -1560
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
disabled_by_default: true
- platform: template
name: "Zone 3 End Y"
id: zone3_end_y
max_value: 6000
min_value: -1560
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
disabled_by_default: true
- platform: template
name: "Zone 3 Occupancy Off Delay"
id: zone_3_off_delay
max_value: 600
min_value: 0
step: 1
optimistic: True
restore_value: True
unit_of_measurement: "s"
initial_value: 15
disabled_by_default: true
- platform: template
name: "Zone 4 Begin X"
id: zone4_begin_x
max_value: 6000
min_value: -6000
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
disabled_by_default: true
- platform: template
name: "Zone 4 End X"
id: zone4_end_x
max_value: 6000
min_value: -6000
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
disabled_by_default: true
- platform: template
name: "Zone 4 Begin Y"
id: zone4_begin_y
max_value: 6000
min_value: -1560
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
disabled_by_default: true
- platform: template
name: "Zone 4 End Y"
id: zone4_end_y
max_value: 6000
min_value: -1560
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
disabled_by_default: true
- platform: template
name: "Zone 4 Occupancy Off Delay"
id: zone_4_off_delay
max_value: 600
min_value: 0
step: 1
optimistic: True
restore_value: True
unit_of_measurement: "s"
initial_value: 15
disabled_by_default: true
- platform: template
name: "Occupancy Mask 1 Begin X"
id: occupancy_mask_1_begin_x
max_value: 6000
min_value: -6000
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
- platform: template
name: "Occupancy Mask 1 End X"
id: occupancy_mask_1_end_x
max_value: 6000
min_value: -6000
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
- platform: template
name: "Occupancy Mask 1 Begin Y"
id: occupancy_mask_1_begin_y
max_value: 6000
min_value: -1560
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
- platform: template
name: "Occupancy Mask 1 End Y"
id: occupancy_mask_1_end_y
max_value: 6000
min_value: -1560
unit_of_measurement: "mm"
step: 10
optimistic: True
restore_value: True
sensor:
- platform: template
name: "Target 1 X"
id: target1_x
accuracy_decimals: 0
unit_of_measurement: 'mm'
state_class: measurement
device_class: distance
- platform: template
name: "Target 1 Y"
id: target1_y
accuracy_decimals: 0
unit_of_measurement: 'mm'
state_class: measurement
device_class: distance
- platform: template
name: "Target 1 Speed"
id: target1_speed
accuracy_decimals: 2
unit_of_measurement: 'm/s'
state_class: measurement
device_class: speed
- platform: template
name: "Target 1 Resolution"
id: target1_resolution
accuracy_decimals: 0
unit_of_measurement: 'mm'
state_class: measurement
device_class: distance
- platform: template
name: "Target 2 X"
id: target2_x
accuracy_decimals: 0
unit_of_measurement: 'mm'
state_class: measurement
device_class: distance
- platform: template
name: "Target 2 Y"
id: target2_y
accuracy_decimals: 0
unit_of_measurement: 'mm'
state_class: measurement
device_class: distance
- platform: template
name: "Target 2 Speed"
id: target2_speed
accuracy_decimals: 2
unit_of_measurement: 'm/s'
state_class: measurement
device_class: speed
- platform: template
name: "Target 2 Resolution"
id: target2_resolution
accuracy_decimals: 0
unit_of_measurement: 'mm'
state_class: measurement
device_class: distance
- platform: template
name: "Target 3 X"
id: target3_x
accuracy_decimals: 0
unit_of_measurement: 'mm'
state_class: measurement
device_class: distance
- platform: template
name: "Target 3 Y"
id: target3_y
accuracy_decimals: 0
unit_of_measurement: 'mm'
state_class: measurement
device_class: distance
- platform: template
name: "Target 3 Speed"
id: target3_speed
accuracy_decimals: 2
unit_of_measurement: 'm/s'
state_class: measurement
device_class: speed
- platform: template
name: "Target 3 Resolution"
id: target3_resolution
accuracy_decimals: 0
unit_of_measurement: 'mm'
state_class: measurement
device_class: distance
- platform: template
name: "Target 1 Angle"
id: target1_angle
accuracy_decimals: 0
unit_of_measurement: '°'
state_class: measurement
- platform: template
name: "Target 2 Angle"
id: target2_angle
accuracy_decimals: 0
unit_of_measurement: '°'
state_class: measurement
- platform: template
name: "Target 3 Angle"
id: target3_angle
accuracy_decimals: 0
unit_of_measurement: '°'
state_class: measurement
- platform: template
name: "Target 1 Distance"
id: target1_distance
accuracy_decimals: 0
unit_of_measurement: 'mm'
state_class: measurement
device_class: distance
- platform: template
name: "Target 2 Distance"
id: target2_distance
accuracy_decimals: 0
unit_of_measurement: 'mm'
state_class: measurement
device_class: distance
- platform: template
name: "Target 3 Distance"
id: target3_distance
accuracy_decimals: 0
unit_of_measurement: 'mm'
state_class: measurement
device_class: distance
- platform: template
name: "Zone 1 Target Count"
id: zone1_target_count
accuracy_decimals: 0
unit_of_measurement: " "
- platform: template
name: "Zone 2 Target Count"
id: zone2_target_count
accuracy_decimals: 0
disabled_by_default: true
unit_of_measurement: " "
- platform: template
name: "Zone 3 Target Count"
id: zone3_target_count
accuracy_decimals: 0
disabled_by_default: true
unit_of_measurement: " "
- platform: template
name: "Zone 4 Target Count"
id: zone4_target_count
accuracy_decimals: 0
disabled_by_default: true
unit_of_measurement: " "
- platform: template
name: "Occupancy Mask 1 Target Count"
id: occupancy_mask_1_target_count
accuracy_decimals: 0
disabled_by_default: true
unit_of_measurement: " "
uart:
id: uart_bus
tx_pin:
number: GPIO17
mode:
input: true
pullup: true
rx_pin:
number: GPIO16
mode:
input: true
pullup: true
baud_rate: 256000
parity: NONE
stop_bits: 1
data_bits: 8
debug:
direction: BOTH
dummy_receiver: True
after:
delimiter: [0X55, 0XCC]
sequence:
# - lambda: UARTDebug::log_hex(direction, bytes, ' ');
- lambda: |-
if ((millis() - id(mmwave_update_time)) <= 250) {
return;
};
id(mmwave_update_time) = millis();
int16_t p1_x = (uint16_t((bytes[5] << 8) | bytes[4] ));
if ((bytes[5] & 0x80) >> 7) {
p1_x -= pow(2, 15);
} else {
p1_x = 0 - p1_x; // was 0 - p1_x;
}
int16_t p1_y = (uint16_t((bytes[7] << 8) | bytes[6] ));
if ((bytes[7] & 0x80) >> 7) {
p1_y -= pow(2, 15);
} else {
p1_y = 0 - p1_y;
}
float p1_speed = (bytes[9] << 8 | bytes[8] );
if ((bytes[9] & 0x80) >> 7) {
p1_speed -= pow(2, 15);
} else {
p1_speed = 0 - p1_speed;
}
int16_t p1_distance_resolution = (uint16_t((bytes[11] << 8) | bytes[10] ));
int16_t p2_x = (uint16_t((bytes[13] << 8) | bytes[12] ));
if ((bytes[13] & 0x80) >> 7) {
p2_x -= pow(2, 15);
} else {
p2_x = 0 - p2_x;
}
int16_t p2_y = (uint16_t((bytes[15] << 8) | bytes[14] ));
if ((bytes[15] & 0x80) >> 7) {
p2_y -= pow(2, 15);
} else {
p2_y = 0 - p2_y;
}
float p2_speed = (bytes[17] << 8 | bytes[16] );
if ((bytes[17] & 0x80) >> 7) {
p2_speed -= pow(2, 15);
} else {
p2_speed = 0 - p2_speed;
}
int16_t p2_distance_resolution = (uint16_t((bytes[19] << 8) | bytes[18] ));
int16_t p3_x = (uint16_t((bytes[21] << 8) | bytes[20] ));
if ((bytes[21] & 0x80) >> 7) {
p3_x -= pow(2, 15);
} else {
p3_x = 0 - p3_x;
}
int16_t p3_y = (uint16_t((bytes[23] << 8) | bytes[22] ));
if ((bytes[23] & 0x80) >> 7) {
p3_y -= pow(2, 15);
} else {
p3_y = 0 - p3_y;
}
float p3_speed = (bytes[25] << 8 | bytes[24] );
if ((bytes[25] & 0x80) >> 7) {
p3_speed -= pow(2, 15);
} else {
p3_speed = 0 - p3_speed;
}
int16_t p3_distance_resolution = (uint16_t((bytes[27] << 8) | bytes[26] ));
const static float RADIANS_TO_DEGREES = 180.0 / 3.14159265358979323846;
const static float DEGREES_TO_RADIANS = 3.14159265358979323846 / 180.0;
float p1_angle = atan2(p1_y, p1_x);
float p2_angle = atan2(p2_y, p2_x);
float p3_angle = atan2(p3_y, p3_x);
float p1_distance = sqrt(p1_x * p1_x + p1_y * p1_y);
float p2_distance = sqrt(p2_x * p2_x + p2_y * p2_y);
float p3_distance = sqrt(p3_x * p3_x + p3_y * p3_y);
float max_distance = float(id(distance).state) * 10;
float installation_angle = id(installation_angle_ui).state * DEGREES_TO_RADIANS;
// Extracted for consistency of read values
int zone1_count = 0;
int zone1_begin_x_value = min(id(zone1_begin_x).state, id(zone1_end_x).state);
int zone1_end_x_value = max(id(zone1_begin_x).state, id(zone1_end_x).state);
int zone1_begin_y_value = min(id(zone1_begin_y).state, id(zone1_end_y).state);
int zone1_end_y_value = max(id(zone1_begin_y).state, id(zone1_end_y).state);
int zone2_count = 0;
int zone2_begin_x_value = min(id(zone2_begin_x).state, id(zone2_end_x).state);
int zone2_end_x_value = max(id(zone2_begin_x).state, id(zone2_end_x).state);
int zone2_begin_y_value = min(id(zone2_begin_y).state, id(zone2_end_y).state);
int zone2_end_y_value = max(id(zone2_begin_y).state, id(zone2_end_y).state);
int zone3_count = 0;
int zone3_begin_x_value = min(id(zone3_begin_x).state, id(zone3_end_x).state);
int zone3_end_x_value = max(id(zone3_begin_x).state, id(zone3_end_x).state);
int zone3_begin_y_value = min(id(zone3_begin_y).state, id(zone3_end_y).state);
int zone3_end_y_value = max(id(zone3_begin_y).state, id(zone3_end_y).state);
int zone4_count = 0;
int zone4_begin_x_value = min(id(zone4_begin_x).state, id(zone4_end_x).state);
int zone4_end_x_value = max(id(zone4_begin_x).state, id(zone4_end_x).state);
int zone4_begin_y_value = min(id(zone4_begin_y).state, id(zone4_end_y).state);
int zone4_end_y_value = max(id(zone4_begin_y).state, id(zone4_end_y).state);
int occupancy_mask_1_count = 0;
int occupancy_mask_1_begin_x_value = min(id(occupancy_mask_1_begin_x).state, id(occupancy_mask_1_end_x).state);
int occupancy_mask_1_end_x_value = max(id(occupancy_mask_1_begin_x).state, id(occupancy_mask_1_end_x).state);
int occupancy_mask_1_begin_y_value = min(id(occupancy_mask_1_begin_y).state, id(occupancy_mask_1_end_y).state);
int occupancy_mask_1_end_y_value = max(id(occupancy_mask_1_begin_y).state, id(occupancy_mask_1_end_y).state);
int targets_detected = 0;
if (p1_distance > 0 && p1_distance <= max_distance) {
targets_detected++;
if (installation_angle != 0) {
float angle = p1_angle - installation_angle;
p1_x = p1_distance * cos(angle);
p1_y = p1_distance * sin(angle);
}
if ((p1_x >= occupancy_mask_1_begin_x_value && p1_x <= occupancy_mask_1_end_x_value) &&
(p1_y >= occupancy_mask_1_begin_y_value && p1_y <= occupancy_mask_1_end_y_value)) {
occupancy_mask_1_count++;
} else {
if ((p1_x >= zone1_begin_x_value && p1_x <= zone1_end_x_value) &&
(p1_y >= zone1_begin_y_value && p1_y <= zone1_end_y_value)) {
zone1_count++;
}
if ((p1_x >= zone2_begin_x_value && p1_x <= zone2_end_x_value) &&
(p1_y >= zone2_begin_y_value && p1_y <= zone2_end_y_value)) {
zone2_count++;
}
if ((p1_x >= zone3_begin_x_value && p1_x <= zone3_end_x_value) &&
(p1_y >= zone3_begin_y_value && p1_y <= zone3_end_y_value)) {
zone3_count++;
}
if ((p1_x >= zone4_begin_x_value && p1_x <= zone4_end_x_value) &&
(p1_y >= zone4_begin_y_value && p1_y <= zone4_end_y_value)) {
zone4_count++;
}
}
if (id(target1_x).state != p1_x) {
id(target1_x).publish_state(p1_x);
}
if (id(target1_y).state != p1_y) {
id(target1_y).publish_state(p1_y);
}
p1_speed /= 100.0;
if (id(target1_speed).state != p1_speed) {
id(target1_speed).publish_state(p1_speed);
}
if (id(target1_resolution).state != p1_distance_resolution) {
id(target1_resolution).publish_state(p1_distance_resolution);
}
if (id(target1_distance).state != p1_distance) {
id(target1_distance).publish_state(p1_distance);
}
p1_angle = (p1_angle * RADIANS_TO_DEGREES) - 90;
if (id(target1_angle).state != p1_angle) {
id(target1_angle).publish_state(p1_angle);
}
if (id(target1_active).state != true) {
id(target1_active).publish_state(true);
}
} else {
if (id(target1_x).state != 0) {
id(target1_x).publish_state(0);
}
if (id(target1_y).state != 0) {
id(target1_y).publish_state(0);
}
if (id(target1_speed).state != 0) {
id(target1_speed).publish_state(0);
}
if (id(target1_resolution).state != 0) {
id(target1_resolution).publish_state(0);
}
if (id(target1_distance).state != 0) {
id(target1_distance).publish_state(0);
}
if (id(target1_angle).state != 0) {
id(target1_angle).publish_state(0);
}
if (id(target1_active).state != false) {
id(target1_active).publish_state(false);
}
}
if (p2_distance > 0 && p2_distance <= max_distance) {
targets_detected++;
if (installation_angle != 0) {
float angle = p2_angle - installation_angle;
p2_x = p2_distance * cos(angle);
p2_y = p2_distance * sin(angle);
}
if ((p2_x >= occupancy_mask_1_begin_x_value && p2_x <= occupancy_mask_1_end_x_value) &&
(p2_y >= occupancy_mask_1_begin_y_value && p2_y <= occupancy_mask_1_end_y_value)) {
occupancy_mask_1_count++;
} else {
if ((p2_x >= zone1_begin_x_value && p2_x <= zone1_end_x_value) &&
(p2_y >= zone1_begin_y_value && p2_y <= zone1_end_y_value)) {
zone1_count++;
}
if ((p2_x >= zone2_begin_x_value && p2_x <= zone2_end_x_value) &&
(p2_y >= zone2_begin_y_value && p2_y <= zone2_end_y_value)) {
zone2_count++;
}
if ((p2_x >= zone3_begin_x_value && p2_x <= zone3_end_x_value) &&
(p2_y >= zone3_begin_y_value && p2_y <= zone3_end_y_value)) {
zone3_count++;
}
if ((p2_x >= zone4_begin_x_value && p2_x <= zone4_end_x_value) &&
(p2_y >= zone4_begin_y_value && p2_y <= zone4_end_y_value)) {
zone4_count++;
}
}
if (id(target2_x).state != p2_x) {
id(target2_x).publish_state(p2_x);
}
if (id(target2_y).state != p2_y) {
id(target2_y).publish_state(p2_y);
}
p2_speed /= 100.0;
if (id(target2_speed).state != p2_speed) {
id(target2_speed).publish_state(p2_speed);
}
if (id(target2_resolution).state != p2_distance_resolution) {
id(target2_resolution).publish_state(p2_distance_resolution);
}
if (id(target2_distance).state != p2_distance) {
id(target2_distance).publish_state(p2_distance);
}
p2_angle = (p2_angle * RADIANS_TO_DEGREES) - 90;
if (id(target2_angle).state != p2_angle) {
id(target2_angle).publish_state(p2_angle);
}
if (id(target2_active).state != true) {
id(target2_active).publish_state(true);
}
} else {
if (id(target2_x).state != 0) {
id(target2_x).publish_state(0);
}
if (id(target2_y).state != 0) {
id(target2_y).publish_state(0);
}
if (id(target2_speed).state != 0) {
id(target2_speed).publish_state(0);
}
if (id(target2_resolution).state != 0) {
id(target2_resolution).publish_state(0);
}
if (id(target2_distance).state != 0) {
id(target2_distance).publish_state(0);
}
if (id(target2_angle).state != 0) {
id(target2_angle).publish_state(0);
}
if (id(target2_active).state != false) {
id(target2_active).publish_state(false);
}
}
if (p3_distance > 0 && p3_distance <= max_distance) {
targets_detected++;
if (installation_angle != 0) {
float angle = p3_angle - installation_angle;
p3_x = p3_distance * cos(angle);
p3_y = p3_distance * sin(angle);
}
if ((p3_x >= occupancy_mask_1_begin_x_value && p3_x <= occupancy_mask_1_end_x_value) &&
(p3_y >= occupancy_mask_1_begin_y_value && p3_y <= occupancy_mask_1_end_y_value)) {
occupancy_mask_1_count++;
} else {
if ((p3_x >= zone1_begin_x_value && p3_x <= zone1_end_x_value) &&
(p3_y >= zone1_begin_y_value && p3_y <= zone1_end_y_value)) {
zone1_count++;
}
if ((p3_x >= zone2_begin_x_value && p3_x <= zone2_end_x_value) &&
(p3_y >= zone2_begin_y_value && p3_y <= zone2_end_y_value)) {
zone2_count++;
}
if ((p3_x >= zone3_begin_x_value && p3_x <= zone3_end_x_value) &&
(p3_y >= zone3_begin_y_value && p3_y <= zone3_end_y_value)) {
zone3_count++;
}
if ((p3_x >= zone4_begin_x_value && p3_x <= zone4_end_x_value) &&
(p3_y >= zone4_begin_y_value && p3_y <= zone4_end_y_value)) {
zone4_count++;
}
}
if (id(target3_x).state != p3_x) {
id(target3_x).publish_state(p3_x);
}
if (id(target3_y).state != p3_y) {
id(target3_y).publish_state(p3_y);
}
p3_speed /= 100.0;
if (id(target3_speed).state != p3_speed) {
id(target3_speed).publish_state(p3_speed);
}
if (id(target3_resolution).state != p3_distance_resolution) {
id(target3_resolution).publish_state(p3_distance_resolution);
}
if (id(target3_distance).state != p3_distance) {
id(target3_distance).publish_state(p3_distance);
}
p3_angle = (p3_angle * RADIANS_TO_DEGREES) - 90;
if (id(target3_angle).state != p3_angle) {
id(target3_angle).publish_state(p3_angle);
}
if (id(target3_active).state != true) {
id(target3_active).publish_state(true);
}
} else {
if (id(target3_x).state != 0) {
id(target3_x).publish_state(0);
}
if (id(target3_y).state != 0) {
id(target3_y).publish_state(0);
}
if (id(target3_speed).state != 0) {
id(target3_speed).publish_state(0);
}
if (id(target3_resolution).state != 0) {
id(target3_resolution).publish_state(0);
}
if (id(target3_distance).state != 0) {
id(target3_distance).publish_state(0);
}
if (id(target3_angle).state != 0) {
id(target3_angle).publish_state(0);
}
if (id(target3_active).state != false) {
id(target3_active).publish_state(false);
}
}
if (targets_detected > occupancy_mask_1_count) {
id(occupancy).publish_state(true);
} else {
id(occupancy).publish_state(false);
}
if (zone1_count > 0) {
id(zone1_occupancy).publish_state(true);
if (id(zone1_target_count).state != zone1_count) {
id(zone1_target_count).publish_state(zone1_count);
}
} else {
id(zone1_occupancy).publish_state(false);
if (id(zone1_target_count).state != 0) {
id(zone1_target_count).publish_state(0);
}
}
if (zone2_count > 0) {
id(zone2_occupancy).publish_state(true);