esphome 2025.6.2__py3-none-any.whl → 2025.7.0__py3-none-any.whl

esphome/components/modbus_controller/__init__.py

@@ -39,6 +39,7 @@ CODEOWNERS = ["@martgras"]
 AUTO_LOAD = ["modbus"]
 
 CONF_READ_LAMBDA = "read_lambda"
+CONF_WRITE_LAMBDA = "write_lambda"
 CONF_SERVER_REGISTERS = "server_registers"
 MULTI_CONF = True
 
@@ -112,6 +113,22 @@ TYPE_REGISTER_MAP = {
     "FP32_R": 2,
 }
 
+CPP_TYPE_REGISTER_MAP = {
+    "RAW": cg.uint16,
+    "U_WORD": cg.uint16,
+    "S_WORD": cg.int16,
+    "U_DWORD": cg.uint32,
+    "U_DWORD_R": cg.uint32,
+    "S_DWORD": cg.int32,
+    "S_DWORD_R": cg.int32,
+    "U_QWORD": cg.uint64,
+    "U_QWORD_R": cg.uint64,
+    "S_QWORD": cg.int64,
+    "S_QWORD_R": cg.int64,
+    "FP32": cg.float_,
+    "FP32_R": cg.float_,
+}
+
 ModbusCommandSentTrigger = modbus_controller_ns.class_(
     "ModbusCommandSentTrigger", automation.Trigger.template(cg.int_, cg.int_)
 )
@@ -132,6 +149,7 @@ ModbusServerRegisterSchema = cv.Schema(
         cv.Required(CONF_ADDRESS): cv.positive_int,
         cv.Optional(CONF_VALUE_TYPE, default="U_WORD"): cv.enum(SENSOR_VALUE_TYPE),
         cv.Required(CONF_READ_LAMBDA): cv.returning_lambda,
+        cv.Optional(CONF_WRITE_LAMBDA): cv.returning_lambda,
     }
 )
 
@@ -285,21 +303,35 @@ async def to_code(config):
     cg.add(var.set_offline_skip_updates(config[CONF_OFFLINE_SKIP_UPDATES]))
     if CONF_SERVER_REGISTERS in config:
         for server_register in config[CONF_SERVER_REGISTERS]:
+            server_register_var = cg.new_Pvariable(
+                server_register[CONF_ID],
+                server_register[CONF_ADDRESS],
+                server_register[CONF_VALUE_TYPE],
+                TYPE_REGISTER_MAP[server_register[CONF_VALUE_TYPE]],
+            )
+            cpp_type = CPP_TYPE_REGISTER_MAP[server_register[CONF_VALUE_TYPE]]
             cg.add(
-                var.add_server_register(
-                    cg.new_Pvariable(
-                        server_register[CONF_ID],
-                        server_register[CONF_ADDRESS],
-                        server_register[CONF_VALUE_TYPE],
-                        TYPE_REGISTER_MAP[server_register[CONF_VALUE_TYPE]],
+                server_register_var.set_read_lambda(
+                    cg.TemplateArguments(cpp_type),
+                    await cg.process_lambda(
+                        server_register[CONF_READ_LAMBDA],
+                        [(cg.uint16, "address")],
+                        return_type=cpp_type,
+                    ),
+                )
+            )
+            if CONF_WRITE_LAMBDA in server_register:
+                cg.add(
+                    server_register_var.set_write_lambda(
+                        cg.TemplateArguments(cpp_type),
                         await cg.process_lambda(
-                            server_register[CONF_READ_LAMBDA],
-                            [],
-                            return_type=cg.float_,
+                            server_register[CONF_WRITE_LAMBDA],
+                            parameters=[(cg.uint16, "address"), (cpp_type, "x")],
+                            return_type=cg.bool_,
                         ),
                     )
                 )
-            )
+            cg.add(var.add_server_register(server_register_var))
     await register_modbus_device(var, config)
     for conf in config.get(CONF_ON_COMMAND_SENT, []):
         trigger = cg.new_Pvariable(conf[CONF_TRIGGER_ID], var)

esphome/components/modbus_controller/modbus_controller.cpp

@@ -117,12 +117,17 @@ void ModbusController::on_modbus_read_registers(uint8_t function_code, uint16_t
     bool found = false;
     for (auto *server_register : this->server_registers_) {
       if (server_register->address == current_address) {
-        float value = server_register->read_lambda();
-
-        ESP_LOGD(TAG, "Matched register. Address: 0x%02X. Value type: %zu. Register count: %u. Value: %0.1f.",
-                 server_register->address, static_cast<uint8_t>(server_register->value_type),
-                 server_register->register_count, value);
-        std::vector<uint16_t> payload = float_to_payload(value, server_register->value_type);
+        if (!server_register->read_lambda) {
+          break;
+        }
+        int64_t value = server_register->read_lambda();
+        ESP_LOGD(TAG, "Matched register. Address: 0x%02X. Value type: %zu. Register count: %u. Value: %s.",
+                 server_register->address, static_cast<size_t>(server_register->value_type),
+                 server_register->register_count, server_register->format_value(value).c_str());
+
+        std::vector<uint16_t> payload;
+        payload.reserve(server_register->register_count * 2);
+        number_to_payload(payload, value, server_register->value_type);
         sixteen_bit_response.insert(sixteen_bit_response.end(), payload.cbegin(), payload.cend());
         current_address += server_register->register_count;
         found = true;
@@ -132,11 +137,7 @@ void ModbusController::on_modbus_read_registers(uint8_t function_code, uint16_t
 
     if (!found) {
       ESP_LOGW(TAG, "Could not match any register to address %02X. Sending exception response.", current_address);
-      std::vector<uint8_t> error_response;
-      error_response.push_back(this->address_);
-      error_response.push_back(0x81);
-      error_response.push_back(0x02);
-      this->send_raw(error_response);
+      send_error(function_code, 0x02);
       return;
     }
   }
@@ -151,6 +152,86 @@ void ModbusController::on_modbus_read_registers(uint8_t function_code, uint16_t
   this->send(function_code, start_address, number_of_registers, response.size(), response.data());
 }
 
+void ModbusController::on_modbus_write_registers(uint8_t function_code, const std::vector<uint8_t> &data) {
+  uint16_t number_of_registers;
+  uint16_t payload_offset;
+
+  if (function_code == 0x10) {
+    number_of_registers = uint16_t(data[3]) | (uint16_t(data[2]) << 8);
+    if (number_of_registers == 0 || number_of_registers > 0x7B) {
+      ESP_LOGW(TAG, "Invalid number of registers %d. Sending exception response.", number_of_registers);
+      send_error(function_code, 3);
+      return;
+    }
+    uint16_t payload_size = data[4];
+    if (payload_size != number_of_registers * 2) {
+      ESP_LOGW(TAG, "Payload size of %d bytes is not 2 times the number of registers (%d). Sending exception response.",
+               payload_size, number_of_registers);
+      send_error(function_code, 3);
+      return;
+    }
+    payload_offset = 5;
+  } else if (function_code == 0x06) {
+    number_of_registers = 1;
+    payload_offset = 2;
+  } else {
+    ESP_LOGW(TAG, "Invalid function code 0x%X. Sending exception response.", function_code);
+    send_error(function_code, 1);
+    return;
+  }
+
+  uint16_t start_address = uint16_t(data[1]) | (uint16_t(data[0]) << 8);
+  ESP_LOGD(TAG,
+           "Received write holding registers for device 0x%X. FC: 0x%X. Start address: 0x%X. Number of registers: "
+           "0x%X.",
+           this->address_, function_code, start_address, number_of_registers);
+
+  auto for_each_register = [this, start_address, number_of_registers, payload_offset](
+                               const std::function<bool(ServerRegister *, uint16_t offset)> &callback) -> bool {
+    uint16_t offset = payload_offset;
+    for (uint16_t current_address = start_address; current_address < start_address + number_of_registers;) {
+      bool ok = false;
+      for (auto *server_register : this->server_registers_) {
+        if (server_register->address == current_address) {
+          ok = callback(server_register, offset);
+          current_address += server_register->register_count;
+          offset += server_register->register_count * sizeof(uint16_t);
+          break;
+        }
+      }
+
+      if (!ok) {
+        return false;
+      }
+    }
+    return true;
+  };
+
+  // check all registers are writable before writing to any of them:
+  if (!for_each_register([](ServerRegister *server_register, uint16_t offset) -> bool {
+        return server_register->write_lambda != nullptr;
+      })) {
+    send_error(function_code, 1);
+    return;
+  }
+
+  // Actually write to the registers:
+  if (!for_each_register([&data](ServerRegister *server_register, uint16_t offset) {
+        int64_t number = payload_to_number(data, server_register->value_type, offset, 0xFFFFFFFF);
+        return server_register->write_lambda(number);
+      })) {
+    send_error(function_code, 4);
+    return;
+  }
+
+  std::vector<uint8_t> response;
+  response.reserve(6);
+  response.push_back(this->address_);
+  response.push_back(function_code);
+  response.insert(response.end(), data.begin(), data.begin() + 4);
+  this->send_raw(response);
+}
+
 SensorSet ModbusController::find_sensors_(ModbusRegisterType register_type, uint16_t start_address) const {
   auto reg_it = std::find_if(
       std::begin(this->register_ranges_), std::end(this->register_ranges_),

esphome/components/modbus_controller/modbus_controller.h

@@ -63,6 +63,10 @@ enum class SensorValueType : uint8_t {
   FP32_R = 0xD
 };
 
+inline bool value_type_is_float(SensorValueType v) {
+  return v == SensorValueType::FP32 || v == SensorValueType::FP32_R;
+}
+
 inline ModbusFunctionCode modbus_register_read_function(ModbusRegisterType reg_type) {
   switch (reg_type) {
     case ModbusRegisterType::COIL:
@@ -253,18 +257,66 @@ class SensorItem {
 };
 
 class ServerRegister {
+  using ReadLambda = std::function<int64_t()>;
+  using WriteLambda = std::function<bool(int64_t value)>;
+
  public:
-  ServerRegister(uint16_t address, SensorValueType value_type, uint8_t register_count,
-                 std::function<float()> read_lambda) {
+  ServerRegister(uint16_t address, SensorValueType value_type, uint8_t register_count) {
     this->address = address;
     this->value_type = value_type;
     this->register_count = register_count;
-    this->read_lambda = std::move(read_lambda);
   }
+
+  template<typename T> void set_read_lambda(const std::function<T(uint16_t address)> &&user_read_lambda) {
+    this->read_lambda = [this, user_read_lambda]() -> int64_t {
+      T user_value = user_read_lambda(this->address);
+      if constexpr (std::is_same_v<T, float>) {
+        return bit_cast<uint32_t>(user_value);
+      } else {
+        return static_cast<int64_t>(user_value);
+      }
+    };
+  }
+
+  template<typename T>
+  void set_write_lambda(const std::function<bool(uint16_t address, const T v)> &&user_write_lambda) {
+    this->write_lambda = [this, user_write_lambda](int64_t number) {
+      if constexpr (std::is_same_v<T, float>) {
+        float float_value = bit_cast<float>(static_cast<uint32_t>(number));
+        return user_write_lambda(this->address, float_value);
+      }
+      return user_write_lambda(this->address, static_cast<T>(number));
+    };
+  }
+
+  // Formats a raw value into a string representation based on the value type for debugging
+  std::string format_value(int64_t value) const {
+    switch (this->value_type) {
+      case SensorValueType::U_WORD:
+      case SensorValueType::U_DWORD:
+      case SensorValueType::U_DWORD_R:
+      case SensorValueType::U_QWORD:
+      case SensorValueType::U_QWORD_R:
+        return std::to_string(static_cast<uint64_t>(value));
+      case SensorValueType::S_WORD:
+      case SensorValueType::S_DWORD:
+      case SensorValueType::S_DWORD_R:
+      case SensorValueType::S_QWORD:
+      case SensorValueType::S_QWORD_R:
+        return std::to_string(value);
+      case SensorValueType::FP32_R:
+      case SensorValueType::FP32:
+        return str_sprintf("%.1f", bit_cast<float>(static_cast<uint32_t>(value)));
+      default:
+        return std::to_string(value);
+    }
+  }
+
   uint16_t address{0};
   SensorValueType value_type{SensorValueType::RAW};
   uint8_t register_count{0};
-  std::function<float()> read_lambda;
+  ReadLambda read_lambda;
+  WriteLambda write_lambda;
 };
 
 // ModbusController::create_register_ranges_ tries to optimize register range
@@ -444,8 +496,10 @@ class ModbusController : public PollingComponent, public modbus::ModbusDevice {
   void on_modbus_data(const std::vector<uint8_t> &data) override;
   /// called when a modbus error response was received
   void on_modbus_error(uint8_t function_code, uint8_t exception_code) override;
-  /// called when a modbus request (function code 3 or 4) was parsed without errors
+  /// called when a modbus request (function code 0x03 or 0x04) was parsed without errors
   void on_modbus_read_registers(uint8_t function_code, uint16_t start_address, uint16_t number_of_registers) final;
+  /// called when a modbus request (function code 0x06 or 0x10) was parsed without errors
+  void on_modbus_write_registers(uint8_t function_code, const std::vector<uint8_t> &data) final;
   /// default delegate called by process_modbus_data when a response has retrieved from the incoming queue
   void on_register_data(ModbusRegisterType register_type, uint16_t start_address, const std::vector<uint8_t> &data);
   /// default delegate called by process_modbus_data when a response for a write response has retrieved from the
@@ -529,7 +583,7 @@ inline float payload_to_float(const std::vector<uint8_t> &data, const SensorItem
   int64_t number = payload_to_number(data, item.sensor_value_type, item.offset, item.bitmask);
 
   float float_value;
-  if (item.sensor_value_type == SensorValueType::FP32 || item.sensor_value_type == SensorValueType::FP32_R) {
+  if (value_type_is_float(item.sensor_value_type)) {
     float_value = bit_cast<float>(static_cast<uint32_t>(number));
   } else {
     float_value = static_cast<float>(number);
@@ -541,7 +595,7 @@ inline float payload_to_float(const std::vector<uint8_t> &data, const SensorItem
 inline std::vector<uint16_t> float_to_payload(float value, SensorValueType value_type) {
   int64_t val;
 
-  if (value_type == SensorValueType::FP32 || value_type == SensorValueType::FP32_R) {
+  if (value_type_is_float(value_type)) {
     val = bit_cast<uint32_t>(value);
   } else {
     val = llroundf(value);

esphome/components/mopeka_pro_check/mopeka_pro_check.h

@@ -34,7 +34,6 @@ class MopekaProCheck : public Component, public esp32_ble_tracker::ESPBTDeviceLi
 
   bool parse_device(const esp32_ble_tracker::ESPBTDevice &device) override;
   void dump_config() override;
-  float get_setup_priority() const override { return setup_priority::DATA; }
   void set_min_signal_quality(SensorReadQuality min) { this->min_signal_quality_ = min; };
 
   void set_level(sensor::Sensor *level) { level_ = level; };

esphome/components/mopeka_std_check/mopeka_std_check.h

@@ -48,7 +48,6 @@ class MopekaStdCheck : public Component, public esp32_ble_tracker::ESPBTDeviceLi
 
   bool parse_device(const esp32_ble_tracker::ESPBTDevice &device) override;
   void dump_config() override;
-  float get_setup_priority() const override { return setup_priority::DATA; }
 
   void set_level(sensor::Sensor *level) { this->level_ = level; };
   void set_temperature(sensor::Sensor *temperature) { this->temperature_ = temperature; };

esphome/components/mpl3115a2/mpl3115a2.h

@@ -91,8 +91,6 @@ class MPL3115A2Component : public PollingComponent, public i2c::I2CDevice {
   void dump_config() override;
   void update() override;
 
-  float get_setup_priority() const override { return setup_priority::DATA; }
-
  protected:
   sensor::Sensor *temperature_{nullptr};
   sensor::Sensor *altitude_{nullptr};

esphome/components/mqtt/__init__.py

@@ -5,6 +5,7 @@ from esphome.automation import Condition
 import esphome.codegen as cg
 from esphome.components import logger
 from esphome.components.esp32 import add_idf_sdkconfig_option
+from esphome.config_helpers import filter_source_files_from_platform
 import esphome.config_validation as cv
 from esphome.const import (
     CONF_AVAILABILITY,
@@ -54,6 +55,7 @@ from esphome.const import (
     PLATFORM_BK72XX,
     PLATFORM_ESP32,
     PLATFORM_ESP8266,
+    PlatformFramework,
 )
 from esphome.core import CORE, coroutine_with_priority
 
@@ -68,6 +70,7 @@ def AUTO_LOAD():
 
 CONF_DISCOVER_IP = "discover_ip"
 CONF_IDF_SEND_ASYNC = "idf_send_async"
+CONF_WAIT_FOR_CONNECTION = "wait_for_connection"
 
 
 def validate_message_just_topic(value):
@@ -298,6 +301,7 @@ CONFIG_SCHEMA = cv.All(
                 }
             ),
             cv.Optional(CONF_PUBLISH_NAN_AS_NONE, default=False): cv.boolean,
+            cv.Optional(CONF_WAIT_FOR_CONNECTION, default=False): cv.boolean,
         }
     ),
     validate_config,
@@ -453,6 +457,8 @@ async def to_code(config):
 
     cg.add(var.set_publish_nan_as_none(config[CONF_PUBLISH_NAN_AS_NONE]))
 
+    cg.add(var.set_wait_for_connection(config[CONF_WAIT_FOR_CONNECTION]))
+
 
 MQTT_PUBLISH_ACTION_SCHEMA = cv.Schema(
     {
@@ -592,3 +598,13 @@ async def mqtt_enable_to_code(config, action_id, template_arg, args):
 async def mqtt_disable_to_code(config, action_id, template_arg, args):
     paren = await cg.get_variable(config[CONF_ID])
     return cg.new_Pvariable(action_id, template_arg, paren)
+
+
+FILTER_SOURCE_FILES = filter_source_files_from_platform(
+    {
+        "mqtt_backend_esp32.cpp": {
+            PlatformFramework.ESP32_ARDUINO,
+            PlatformFramework.ESP32_IDF,
+        },
+    }
+)

esphome/components/mqtt/mqtt_alarm_control_panel.cpp

@@ -55,7 +55,8 @@ void MQTTAlarmControlPanelComponent::dump_config() {
 }
 
 void MQTTAlarmControlPanelComponent::send_discovery(JsonObject root, mqtt::SendDiscoveryConfig &config) {
-  JsonArray supported_features = root.createNestedArray(MQTT_SUPPORTED_FEATURES);
+  // NOLINTNEXTLINE(clang-analyzer-cplusplus.NewDeleteLeaks) false positive with ArduinoJson
+  JsonArray supported_features = root[MQTT_SUPPORTED_FEATURES].to<JsonArray>();
   const uint32_t acp_supported_features = this->alarm_control_panel_->get_supported_features();
   if (acp_supported_features & ACP_FEAT_ARM_AWAY) {
     supported_features.add("arm_away");

esphome/components/mqtt/mqtt_backend.h

@@ -17,7 +17,8 @@ enum class MQTTClientDisconnectReason : int8_t {
   MQTT_MALFORMED_CREDENTIALS = 4,
   MQTT_NOT_AUTHORIZED = 5,
   ESP8266_NOT_ENOUGH_SPACE = 6,
-  TLS_BAD_FINGERPRINT = 7
+  TLS_BAD_FINGERPRINT = 7,
+  DNS_RESOLVE_ERROR = 8
 };
 
 /// internal struct for MQTT messages.

esphome/components/mqtt/mqtt_backend_esp32.cpp

@@ -6,6 +6,7 @@
 #include <string>
 #include "esphome/core/helpers.h"
 #include "esphome/core/log.h"
+#include "esphome/core/application.h"
 
 namespace esphome {
 namespace mqtt {
@@ -13,49 +14,6 @@ namespace mqtt {
 static const char *const TAG = "mqtt.idf";
 
 bool MQTTBackendESP32::initialize_() {
-#if ESP_IDF_VERSION_MAJOR < 5
-  mqtt_cfg_.user_context = (void *) this;
-  mqtt_cfg_.buffer_size = MQTT_BUFFER_SIZE;
-
-  mqtt_cfg_.host = this->host_.c_str();
-  mqtt_cfg_.port = this->port_;
-  mqtt_cfg_.keepalive = this->keep_alive_;
-  mqtt_cfg_.disable_clean_session = !this->clean_session_;
-
-  if (!this->username_.empty()) {
-    mqtt_cfg_.username = this->username_.c_str();
-    if (!this->password_.empty()) {
-      mqtt_cfg_.password = this->password_.c_str();
-    }
-  }
-
-  if (!this->lwt_topic_.empty()) {
-    mqtt_cfg_.lwt_topic = this->lwt_topic_.c_str();
-    this->mqtt_cfg_.lwt_qos = this->lwt_qos_;
-    this->mqtt_cfg_.lwt_retain = this->lwt_retain_;
-
-    if (!this->lwt_message_.empty()) {
-      mqtt_cfg_.lwt_msg = this->lwt_message_.c_str();
-      mqtt_cfg_.lwt_msg_len = this->lwt_message_.size();
-    }
-  }
-
-  if (!this->client_id_.empty()) {
-    mqtt_cfg_.client_id = this->client_id_.c_str();
-  }
-  if (ca_certificate_.has_value()) {
-    mqtt_cfg_.cert_pem = ca_certificate_.value().c_str();
-    mqtt_cfg_.skip_cert_common_name_check = skip_cert_cn_check_;
-    mqtt_cfg_.transport = MQTT_TRANSPORT_OVER_SSL;
-
-    if (this->cl_certificate_.has_value() && this->cl_key_.has_value()) {
-      mqtt_cfg_.client_cert_pem = this->cl_certificate_.value().c_str();
-      mqtt_cfg_.client_key_pem = this->cl_key_.value().c_str();
-    }
-  } else {
-    mqtt_cfg_.transport = MQTT_TRANSPORT_OVER_TCP;
-  }
-#else
   mqtt_cfg_.broker.address.hostname = this->host_.c_str();
   mqtt_cfg_.broker.address.port = this->port_;
   mqtt_cfg_.session.keepalive = this->keep_alive_;
@@ -94,15 +52,30 @@ bool MQTTBackendESP32::initialize_() {
   } else {
     mqtt_cfg_.broker.address.transport = MQTT_TRANSPORT_OVER_TCP;
   }
-#endif
+
   auto *mqtt_client = esp_mqtt_client_init(&mqtt_cfg_);
   if (mqtt_client) {
     handler_.reset(mqtt_client);
     is_initalized_ = true;
     esp_mqtt_client_register_event(mqtt_client, MQTT_EVENT_ANY, mqtt_event_handler, this);
+#if defined(USE_MQTT_IDF_ENQUEUE)
+    // Create the task only after MQTT client is initialized successfully
+    // Use larger stack size when TLS is enabled
+    size_t stack_size = this->ca_certificate_.has_value() ? TASK_STACK_SIZE_TLS : TASK_STACK_SIZE;
+    xTaskCreate(esphome_mqtt_task, "esphome_mqtt", stack_size, (void *) this, TASK_PRIORITY, &this->task_handle_);
+    if (this->task_handle_ == nullptr) {
+      ESP_LOGE(TAG, "Failed to create MQTT task");
+      // Clean up MQTT client since we can't start the async task
+      handler_.reset();
+      is_initalized_ = false;
+      return false;
+    }
+    // Set the task handle so the queue can notify it
+    this->mqtt_queue_.set_task_to_notify(this->task_handle_);
+#endif
     return true;
   } else {
-    ESP_LOGE(TAG, "Failed to initialize IDF-MQTT");
+    ESP_LOGE(TAG, "Failed to init client");
     return false;
   }
 }
@@ -115,6 +88,26 @@ void MQTTBackendESP32::loop() {
     mqtt_event_handler_(event);
     mqtt_events_.pop();
   }
+
+#if defined(USE_MQTT_IDF_ENQUEUE)
+  // Periodically log dropped messages to avoid blocking during spikes.
+  // During high load, many messages can be dropped in quick succession.
+  // Logging each drop immediately would flood the logs and potentially
+  // cause more drops if MQTT logging is enabled (cascade effect).
+  // Instead, we accumulate the count and log a summary periodically.
+  // IMPORTANT: Don't move this to the scheduler - if drops are due to memory
+  // pressure, the scheduler's heap allocations would make things worse.
+  uint32_t now = App.get_loop_component_start_time();
+  // Handle rollover: (now - last_time) works correctly with unsigned arithmetic
+  // even when now < last_time due to rollover
+  if ((now - this->last_dropped_log_time_) >= DROP_LOG_INTERVAL_MS) {
+    uint16_t dropped = this->mqtt_queue_.get_and_reset_dropped_count();
+    if (dropped > 0) {
+      ESP_LOGW(TAG, "Dropped %u messages (%us)", dropped, DROP_LOG_INTERVAL_MS / 1000);
+    }
+    this->last_dropped_log_time_ = now;
+  }
+#endif
 }
 
 void MQTTBackendESP32::mqtt_event_handler_(const Event &event) {
@@ -127,12 +120,20 @@ void MQTTBackendESP32::mqtt_event_handler_(const Event &event) {
     case MQTT_EVENT_CONNECTED:
       ESP_LOGV(TAG, "MQTT_EVENT_CONNECTED");
       this->is_connected_ = true;
+#if defined(USE_MQTT_IDF_ENQUEUE)
+      this->last_dropped_log_time_ = 0;
+      xTaskNotifyGive(this->task_handle_);
+#endif
       this->on_connect_.call(event.session_present);
       break;
     case MQTT_EVENT_DISCONNECTED:
       ESP_LOGV(TAG, "MQTT_EVENT_DISCONNECTED");
       // TODO is there a way to get the disconnect reason?
       this->is_connected_ = false;
+#if defined(USE_MQTT_IDF_ENQUEUE)
+      this->last_dropped_log_time_ = 0;
+      xTaskNotifyGive(this->task_handle_);
+#endif
       this->on_disconnect_.call(MQTTClientDisconnectReason::TCP_DISCONNECTED);
       break;
 
@@ -152,11 +153,15 @@ void MQTTBackendESP32::mqtt_event_handler_(const Event &event) {
     case MQTT_EVENT_DATA: {
       static std::string topic;
       if (!event.topic.empty()) {
+        // When a single message arrives as multiple chunks, the topic will be empty
+        // on any but the first message, leading to event.topic being an empty string.
+        // To ensure handlers get the correct topic, cache the last seen topic to
+        // simulate always receiving the topic from underlying library
         topic = event.topic;
       }
       ESP_LOGV(TAG, "MQTT_EVENT_DATA %s", topic.c_str());
-      this->on_message_.call(!event.topic.empty() ? topic.c_str() : nullptr, event.data.data(), event.data.size(),
-                             event.current_data_offset, event.total_data_len);
+      this->on_message_.call(topic.c_str(), event.data.data(), event.data.size(), event.current_data_offset,
+                             event.total_data_len);
     } break;
     case MQTT_EVENT_ERROR:
       ESP_LOGE(TAG, "MQTT_EVENT_ERROR");
@@ -188,6 +193,86 @@ void MQTTBackendESP32::mqtt_event_handler(void *handler_args, esp_event_base_t b
   }
 }
 
+#if defined(USE_MQTT_IDF_ENQUEUE)
+void MQTTBackendESP32::esphome_mqtt_task(void *params) {
+  MQTTBackendESP32 *this_mqtt = (MQTTBackendESP32 *) params;
+
+  while (true) {
+    // Wait for notification indefinitely
+    ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+
+    // Process all queued items
+    struct QueueElement *elem;
+    while ((elem = this_mqtt->mqtt_queue_.pop()) != nullptr) {
+      if (this_mqtt->is_connected_) {
+        switch (elem->type) {
+          case MQTT_QUEUE_TYPE_SUBSCRIBE:
+            esp_mqtt_client_subscribe(this_mqtt->handler_.get(), elem->topic, elem->qos);
+            break;
+
+          case MQTT_QUEUE_TYPE_UNSUBSCRIBE:
+            esp_mqtt_client_unsubscribe(this_mqtt->handler_.get(), elem->topic);
+            break;
+
+          case MQTT_QUEUE_TYPE_PUBLISH:
+            esp_mqtt_client_publish(this_mqtt->handler_.get(), elem->topic, elem->payload, elem->payload_len, elem->qos,
+                                    elem->retain);
+            break;
+
+          default:
+            ESP_LOGE(TAG, "Invalid operation type from MQTT queue");
+            break;
+        }
+      }
+      this_mqtt->mqtt_event_pool_.release(elem);
+    }
+  }
+
+  // Clean up any remaining items in the queue
+  struct QueueElement *elem;
+  while ((elem = this_mqtt->mqtt_queue_.pop()) != nullptr) {
+    this_mqtt->mqtt_event_pool_.release(elem);
+  }
+
+  // Note: EventPool destructor will clean up the pool itself
+  // Task will delete itself
+  vTaskDelete(nullptr);
+}
+
+bool MQTTBackendESP32::enqueue_(MqttQueueTypeT type, const char *topic, int qos, bool retain, const char *payload,
+                                size_t len) {
+  auto *elem = this->mqtt_event_pool_.allocate();
+
+  if (!elem) {
+    // Queue is full - increment counter but don't log immediately.
+    // Logging here can cause a cascade effect: if MQTT logging is enabled,
+    // each dropped message would generate a log message, which could itself
+    // be sent via MQTT, causing more drops and more logs in a feedback loop
+    // that eventually triggers a watchdog reset. Instead, we log periodically
+    // in loop() to prevent blocking the event loop during spikes.
+    this->mqtt_queue_.increment_dropped_count();
+    return false;
+  }
+
+  elem->type = type;
+  elem->qos = qos;
+  elem->retain = retain;
+
+  // Use the helper to allocate and copy data
+  if (!elem->set_data(topic, payload, len)) {
+    // Allocation failed, return elem to pool
+    this->mqtt_event_pool_.release(elem);
+    // Increment counter without logging to avoid cascade effect during memory pressure
+    this->mqtt_queue_.increment_dropped_count();
+    return false;
+  }
+
+  // Push to queue - always succeeds since we allocated from the pool
+  this->mqtt_queue_.push(elem);
+  return true;
+}
+#endif  // USE_MQTT_IDF_ENQUEUE
+
 }  // namespace mqtt
 }  // namespace esphome
 #endif  // USE_ESP32