dotfiles/curacao/desk/desk_mqtt.py

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2024-06-30 17:41:29 +02:00
import struct
import time
import typing
import ha_mqtt_discoverable
import ha_mqtt_discoverable.sensors
import paho.mqtt.client
import usb.core
import usb.util
class Desk:
"""
Controls my Linak desk, which is a CBD4P controller connected via USB2LIN06
This particular combination doesn't seem to report desk height,
so it is estimated from the physical controller that does work.
"""
# Source of data:
# https://github.com/UrbanskiDawid/usb2lin06-HID-in-linux-for-LINAK-Desk-Control-Cable
# https://github.com/monofox/python-linak-desk-control
# https://github.com/gryf/linak-ctrl
# Desk Control Basic Software
# https://www.linak-us.com/products/controls/desk-control-basic-software/
# Says it's connected but doesn't report height and buttons do nothing
# Expected, as manual says it only works with CBD4A or CBD6
# Decompiled with ILSpy (easy), doesn't offer much though
# CBD4+5 Configurator
# https://www.linak.nl/technische-ondersteuning/#/cbd4-cbd6s-configurator
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# Connects, and settings can be changed.
# Don't think there's much that would help with our problem.
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# Decompiled with Ghidra (hard), didn't go super far
VEND = 0x12D3
PROD = 0x0002
# Official apps use HID library, although only managed to barely make
# pyhidapi read manufacturer and product once after device reset
BUF_LEN = 64
MOVE_CMD_REPEAT_INTERVAL = 0.2 # s
STOP_CMD_INTERVAL = 1 # s
MAX_EST_INTERVAL = 10 # s
# Theoritical height values
VALUE_MIN = 0x0000
VALUE_MAX = 0x7FFE
VALUE_DOWN = 0x7FFF
VALUE_UP = 0x8000
VALUE_STOP = 0x8001
# Measured values
VALUE_BOT = 0x0001
VALUE_TOP = 0x1A50
HEIGHT_BOT = 68
HEIGHT_TOP = 135
FULL_RISE_TIME = 17.13 # s
FULL_FALL_TIME = 16.64 # s
# Computed values
HEIGHT_OFFSET = HEIGHT_BOT # cm
HEIGHT_MULT = VALUE_TOP / (HEIGHT_TOP - HEIGHT_BOT) # unit / cm
# Should be 100 in theory (1 unit = 0.1 mm)
FULL_TIME = (FULL_FALL_TIME + FULL_RISE_TIME) / 2 # s
SPEED_MARGIN = 0.9
# Better estimate a bit slower
SPEED = (VALUE_TOP - VALUE_BOT) / FULL_TIME * SPEED_MARGIN # unit / s
def _cmToUnit(self, height: float) -> int:
return round((height - self.HEIGHT_OFFSET) * self.HEIGHT_MULT)
def _unitToCm(self, height: int) -> float:
return height / self.HEIGHT_MULT + self.HEIGHT_OFFSET
def _get(self, typ: int, overflow_ok: bool = False) -> bytes:
# Magic numbers: get class interface, HID get report
raw = self._dev.ctrl_transfer(
0xA1, 0x01, 0x300 + typ, 0, self.BUF_LEN
).tobytes()
assert raw[0] == typ
size = raw[1]
end = 2 + size
if not overflow_ok:
assert end < self.BUF_LEN
return raw[2:end]
# Non-implemented types:
# 1, 7: some kind of stream when the device isn't initialized?
# size reduces the faster you poll, increases when buttons are held
# 9: unknown, always report 0
def _set(self, typ: int, buf: bytes) -> None:
buf = bytes([typ]) + buf
# The official apps pad, not that it doesn't seem to work without
buf = buf + b"\x00" * (self.BUF_LEN - len(buf))
# Magic numbers: set class interface, HID set report
self._dev.ctrl_transfer(0x21, 0x09, 0x300 + typ, 0, buf)
# Non-implemented types:
# Some stuff < 10
def _reset_estimations(self) -> None:
self.est_value: None | int = None
self.est_value_bot = float(self.VALUE_BOT)
self.est_value_top = float(self.VALUE_TOP)
self.last_est: float = 0.0
def _initialize(self) -> None:
"""
Seems to take the USB2LIN06 out of "boot mode"
(name according to CBD4 Controller) which it is after reset.
Permits control and reading the report.
"""
buf = bytes([0x04, 0x00, 0xFB])
self._set(3, buf)
time.sleep(0.5)
def __init__(self) -> None:
self._dev = usb.core.find(idVendor=Desk.VEND, idProduct=Desk.PROD)
if not self._dev:
raise ValueError(
f"Device {Desk.VEND}:" f"{Desk.PROD:04d} " f"not found!"
)
if self._dev.is_kernel_driver_active(0):
self._dev.detach_kernel_driver(0)
self._initialize()
self._reset_estimations()
self.fetch_callback: typing.Callable[["Desk"], None] | None = None
def _get_report(self) -> bytes:
raw = self._get(4)
assert len(raw) == 0x38
return raw
def _update_estimations(self) -> None:
now = time.time()
delta_s = now - self.last_est
if delta_s > self.MAX_EST_INTERVAL:
self._reset_estimations()
else:
delta_u = delta_s * self.SPEED
if self.destination == self.VALUE_STOP:
pass
elif self.destination == self.VALUE_UP:
self.est_value_bot += delta_u
self.est_value_top += delta_u
elif self.destination == self.VALUE_DOWN:
self.est_value_bot -= delta_u
self.est_value_top -= delta_u
else:
def move_closer(start_val: float) -> float:
if start_val < self.destination:
end_val = start_val + delta_u
return min(end_val, self.destination)
else:
end_val = start_val - delta_u
return max(end_val, self.destination)
self.est_value_bot = move_closer(self.est_value_bot)
self.est_value_top = move_closer(self.est_value_top)
# Clamp
self.est_value_bot = max(self.VALUE_BOT, self.est_value_bot)
self.est_value_top = min(self.VALUE_TOP, self.est_value_top)
if self.est_value_top == self.est_value_bot:
self.est_value = int(self.est_value_top)
self.last_est = now
def fetch(self) -> None:
for _ in range(3):
try:
raw = self._get_report()
break
except usb.USBError as e:
print(e)
pass
else:
raw = self._get_report()
# Allegedly, from decompiling:
# https://www.linak-us.com/products/controls/desk-control-basic-software/
# Never reports anything in practice
self.value = struct.unpack("<H", raw[0:2])[0]
unk = struct.unpack("<H", raw[2:4])[0]
self.initalized = (unk & 0xF) != 0
# From observation. Reliable
self.destination = (struct.unpack("<H", raw[18:20])[0],)[0]
self._update_estimations()
if self.fetch_callback is not None:
self.fetch_callback(self)
def _move(self, position: int) -> None:
buf = struct.pack("<H", position) * 4
self._set(5, buf)
def _move_to(self, position: int) -> None:
# Clamp
position = max(self.VALUE_BOT, position)
position = min(self.VALUE_TOP, position)
self.fetch()
while self.est_value != position:
self._move(position)
time.sleep(self.MOVE_CMD_REPEAT_INTERVAL)
self.fetch()
self.stop()
def move_to(self, position: float) -> None:
"""
If any button is held during movement, the desk will stop moving,
yet this will think it's still moving, throwing off the estimates.
It's not a bug, it's a safety feature.
Also if you try to make it move when it's already moving,
it's going to keep moving while desyncing.
That one is a bug.
"""
# Would to stop for a while before reversing course, without being able
# to read the actual height it's just too annoying to implement
return self._move_to(self._cmToUnit(position))
def stop(self) -> None:
self._move(self.VALUE_STOP)
time.sleep(0.5)
def get_height_bounds(self) -> tuple[float, float]:
return (
self._unitToCm(int(self.est_value_bot)),
self._unitToCm(int(self.est_value_top)),
)
def get_height(self) -> float | None:
if self.est_value is None:
return None
else:
return self._unitToCm(self.est_value)
if __name__ == "__main__":
desk = Desk()
target_height: float | None = None
# Configure the required parameters for the MQTT broker
mqtt_settings = ha_mqtt_discoverable.Settings.MQTT(host="192.168.7.53")
device_info = ha_mqtt_discoverable.DeviceInfo(
name="Desk",
manufacturer="Linak",
model="CBD4P",
suggested_area="Desk",
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hw_version="77402",
sw_version="1.91",
serial_number="000C-34E7",
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)
ndigits = 1
common_opts = {
"device": device_info,
"icon": "mdi:desk",
"unit_of_measurement": "cm",
"device_class": "distance",
"expire_after": 10,
}
# TODO Implement proper availability in hq-mqtt-discoverable
height_info = ha_mqtt_discoverable.sensors.NumberInfo(
name="Height ",
min=desk.HEIGHT_BOT,
max=desk.HEIGHT_TOP,
mode="slider",
step=10 ** (-ndigits),
unique_id="desk_height",
**common_opts,
)
height_settings = ha_mqtt_discoverable.Settings(
mqtt=mqtt_settings, entity=height_info
)
def height_callback(
client: paho.mqtt.client.Client,
user_data: None,
message: paho.mqtt.client.MQTTMessage,
) -> None:
global target_height
number = float(message.payload.decode())
print(f"HA wants to move to: {number}")
target_height = number
height = ha_mqtt_discoverable.sensors.Number(
height_settings, height_callback
)
height_max_info = ha_mqtt_discoverable.sensors.SensorInfo(
name="Estimated height max",
unique_id="desk_height_max",
entity_category="diagnostic",
**common_opts,
)
height_max_settings = ha_mqtt_discoverable.Settings(
mqtt=mqtt_settings, entity=height_max_info
)
height_max = ha_mqtt_discoverable.sensors.Sensor(height_max_settings)
height_min_info = ha_mqtt_discoverable.sensors.SensorInfo(
name="Estimated height min",
unique_id="desk_height_min",
entity_category="diagnostic",
**common_opts,
)
height_min_settings = ha_mqtt_discoverable.Settings(
mqtt=mqtt_settings, entity=height_min_info
)
height_min = ha_mqtt_discoverable.sensors.Sensor(height_min_settings)
def fetch_callback(desk: Desk) -> None:
hcur = desk.get_height()
hmin, hmax = desk.get_height_bounds()
# If none this will set as unknown
# Also readings can be a bit outside the boundaries,
# so this skips verification
if isinstance(hcur, float):
hcur = round(hcur, ndigits=ndigits)
height._update_state(hcur)
height_max._update_state(round(hmax, ndigits=ndigits))
height_min._update_state(round(hmin, ndigits=ndigits))
desk.fetch_callback = fetch_callback
interval = 0.2
# Need to be rective to catch
while True:
if target_height:
print("Start moving")
temp_target_height = target_height
target_height = None
desk.move_to(temp_target_height)
print("End moving")
else:
time.sleep(interval)
desk.fetch()