Create Zone.roi_override that config writes to separate from current …

…ROI. This allows ROI to be recalibrated later without losing what the config overrides are.
Lyr3x · Jan 14, 2022 · fae27dc · fae27dc
1 parent 19c0e62
commit fae27dc
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Showing 5 changed files with 23 additions and 20 deletions.
diff --git a/components/roode/__init__.py b/components/roode/__init__.py
@@ -102,7 +102,7 @@ def setup_zone(name: str, config: Dict, roode: cg.Pvariable):
     zone_config = config[CONF_ZONES][name]
     zone_var = cg.MockObj(f"{roode}->{name}", "->")
 
-    roi_var = cg.MockObj(f"{zone_var}->roi", "->")
+    roi_var = cg.MockObj(f"{zone_var}->roi_override", "->")
     setup_roi(roi_var, zone_config.get(CONF_ROI, {}), config.get(CONF_ROI, {}))
 
     threshold_var = cg.MockObj(f"{zone_var}->threshold", "->")

diff --git a/components/roode/roode.cpp b/components/roode/roode.cpp
@@ -12,7 +12,6 @@ void Roode::setup() {
     version_sensor->publish_state(VERSION);
   }
   ESP_LOGI(SETUP, "Using sampling with sampling size: %d", samples);
-  ESP_LOGI(SETUP, "Creating entry and exit zones.");
   createEntryAndExitZone();
   calibrateZones();
 }
@@ -60,15 +59,6 @@ bool Roode::handleSensorStatus() {
   return check_status;
 }
 
-void Roode::createEntryAndExitZone() {
-  if (!entry->roi->center) {
-    entry->roi->center = orientation_ == Parallel ? 167 : 195;
-  }
-  if (!exit->roi->center) {
-    exit->roi->center = orientation_ == Parallel ? 231 : 60;
-  }
-}
-
 VL53L1_Error Roode::getAlternatingZoneDistances() {
   this->current_zone->readDistance(distanceSensor);
   App.feed_wdt();
@@ -254,6 +244,10 @@ const RangingMode *Roode::determineRangingMode(uint16_t average_entry_zone_dista
 
 void Roode::calibrateZones() {
   ESP_LOGI(SETUP, "Calibrating sensor zones");
+
+  entry->reset_roi(orientation_ == Parallel ? 167 : 195);
+  exit->reset_roi(orientation_ == Parallel ? 231 : 60);
+
   calibrateDistance();
 
   entry->roi_calibration(entry->threshold->idle, exit->threshold->idle, orientation_);

diff --git a/components/roode/roode.h b/components/roode/roode.h
@@ -124,7 +124,6 @@ class Roode : public PollingComponent {
   VL53L1_Error getAlternatingZoneDistances();
   void doPathTracking(Zone *zone);
   bool handleSensorStatus();
-  void createEntryAndExitZone();
   void calibrateDistance();
   void calibrateZones();
   const RangingMode *determineRangingMode(uint16_t average_entry_zone_distance, uint16_t average_exit_zone_distance);

diff --git a/components/roode/zone.cpp b/components/roode/zone.cpp
@@ -20,8 +20,18 @@ VL53L1_Error Zone::readDistance(TofSensor *distanceSensor) {
   return sensor_status;
 }
 
+/**
+ * This sets the ROI for the zone to the given overrides or the standard default.
+ * This is needed to do initial calibration of thresholds & ROI.
+ */
+void Zone::reset_roi(uint8_t default_center) {
+  roi->width = roi_override->width ?: 6;
+  roi->height = roi_override->height ?: 16;
+  roi->center = roi_override->center ?: default_center;
+}
+
 void Zone::calibrateThreshold(TofSensor *distanceSensor, int number_attempts) {
-  ESP_LOGI(CALIBRATION, "Beginning. zoneId: %d", id);
+  ESP_LOGD(CALIBRATION, "Beginning. zoneId: %d", id);
   int *zone_distances = new int[number_attempts];
   int sum = 0;
   for (int i = 0; i < number_attempts; i++) {
@@ -48,13 +58,11 @@ void Zone::roi_calibration(uint16_t entry_threshold, uint16_t exit_threshold, Or
   // center of the two zones
   int function_of_the_distance = 16 * (1 - (0.15 * 2) / (0.34 * (min(entry_threshold, exit_threshold) / 1000)));
   int ROI_size = min(8, max(4, function_of_the_distance));
-  if (!this->roi->width) {
-    this->roi->width = ROI_size;
-  }
-  if (!this->roi->height) {
-    this->roi->height = ROI_size * 2;
-  }
-  if (!this->roi->center) {
+  this->roi->width = this->roi_override->width ?: ROI_size;
+  this->roi->height = this->roi_override->height ?: ROI_size * 2;
+  if (this->roi_override->center) {
+    this->roi->center = this->roi_override->center;
+  } else {
     // now we set the position of the center of the two zones
     if (orientation == Parallel) {
       switch (ROI_size) {

diff --git a/components/roode/zone.h b/components/roode/zone.h
@@ -32,12 +32,14 @@ class Zone {
  public:
   explicit Zone(uint8_t id) : id{id} {};
   VL53L1_Error readDistance(TofSensor *distanceSensor);
+  void reset_roi(uint8_t default_center);
   void calibrateThreshold(TofSensor *distanceSensor, int number_attempts);
   void roi_calibration(uint16_t entry_threshold, uint16_t exit_threshold, Orientation orientation);
   const uint8_t id;
   uint16_t getDistance() const;
   uint16_t getMinDistance() const;
   ROI *roi = new ROI();
+  ROI *roi_override = new ROI();
   Threshold *threshold = new Threshold();
   void set_max_samples(uint8_t max) { max_samples = max; };