esphome 2025.7.5__py3-none-any.whl → 2025.8.0b2__py3-none-any.whl

esphome/components/ld2412/ld2412.cpp

@@ -0,0 +1,861 @@
+#include "ld2412.h"
+
+#ifdef USE_NUMBER
+#include "esphome/components/number/number.h"
+#endif
+#ifdef USE_SENSOR
+#include "esphome/components/sensor/sensor.h"
+#endif
+
+#include "esphome/core/application.h"
+#include "esphome/core/helpers.h"
+
+namespace esphome {
+namespace ld2412 {
+
+static const char *const TAG = "ld2412";
+static const char *const UNKNOWN_MAC = "unknown";
+static const char *const VERSION_FMT = "%u.%02X.%02X%02X%02X%02X";
+
+enum BaudRate : uint8_t {
+  BAUD_RATE_9600 = 1,
+  BAUD_RATE_19200 = 2,
+  BAUD_RATE_38400 = 3,
+  BAUD_RATE_57600 = 4,
+  BAUD_RATE_115200 = 5,
+  BAUD_RATE_230400 = 6,
+  BAUD_RATE_256000 = 7,
+  BAUD_RATE_460800 = 8,
+};
+
+enum DistanceResolution : uint8_t {
+  DISTANCE_RESOLUTION_0_2 = 0x03,
+  DISTANCE_RESOLUTION_0_5 = 0x01,
+  DISTANCE_RESOLUTION_0_75 = 0x00,
+};
+
+enum LightFunction : uint8_t {
+  LIGHT_FUNCTION_OFF = 0x00,
+  LIGHT_FUNCTION_BELOW = 0x01,
+  LIGHT_FUNCTION_ABOVE = 0x02,
+};
+
+enum OutPinLevel : uint8_t {
+  OUT_PIN_LEVEL_LOW = 0x01,
+  OUT_PIN_LEVEL_HIGH = 0x00,
+};
+
+/*
+Data Type: 6th byte
+Target states: 9th byte
+    Moving target distance: 10~11th bytes
+    Moving target energy: 12th byte
+    Still target distance: 13~14th bytes
+    Still target energy: 15th byte
+    Detect distance: 16~17th bytes
+*/
+enum PeriodicData : uint8_t {
+  DATA_TYPES = 6,
+  TARGET_STATES = 8,
+  MOVING_TARGET_LOW = 9,
+  MOVING_TARGET_HIGH = 10,
+  MOVING_ENERGY = 11,
+  STILL_TARGET_LOW = 12,
+  STILL_TARGET_HIGH = 13,
+  STILL_ENERGY = 14,
+  MOVING_SENSOR_START = 17,
+  STILL_SENSOR_START = 31,
+  LIGHT_SENSOR = 45,
+  OUT_PIN_SENSOR = 38,
+};
+
+enum PeriodicDataValue : uint8_t {
+  HEADER = 0XAA,
+  FOOTER = 0x55,
+  CHECK = 0x00,
+};
+
+enum AckData : uint8_t {
+  COMMAND = 6,
+  COMMAND_STATUS = 7,
+};
+
+// Memory-efficient lookup tables
+struct StringToUint8 {
+  const char *str;
+  const uint8_t value;
+};
+
+struct Uint8ToString {
+  const uint8_t value;
+  const char *str;
+};
+
+constexpr StringToUint8 BAUD_RATES_BY_STR[] = {
+    {"9600", BAUD_RATE_9600},     {"19200", BAUD_RATE_19200},   {"38400", BAUD_RATE_38400},
+    {"57600", BAUD_RATE_57600},   {"115200", BAUD_RATE_115200}, {"230400", BAUD_RATE_230400},
+    {"256000", BAUD_RATE_256000}, {"460800", BAUD_RATE_460800},
+};
+
+constexpr StringToUint8 DISTANCE_RESOLUTIONS_BY_STR[] = {
+    {"0.2m", DISTANCE_RESOLUTION_0_2},
+    {"0.5m", DISTANCE_RESOLUTION_0_5},
+    {"0.75m", DISTANCE_RESOLUTION_0_75},
+};
+
+constexpr Uint8ToString DISTANCE_RESOLUTIONS_BY_UINT[] = {
+    {DISTANCE_RESOLUTION_0_2, "0.2m"},
+    {DISTANCE_RESOLUTION_0_5, "0.5m"},
+    {DISTANCE_RESOLUTION_0_75, "0.75m"},
+};
+
+constexpr StringToUint8 LIGHT_FUNCTIONS_BY_STR[] = {
+    {"off", LIGHT_FUNCTION_OFF},
+    {"below", LIGHT_FUNCTION_BELOW},
+    {"above", LIGHT_FUNCTION_ABOVE},
+};
+
+constexpr Uint8ToString LIGHT_FUNCTIONS_BY_UINT[] = {
+    {LIGHT_FUNCTION_OFF, "off"},
+    {LIGHT_FUNCTION_BELOW, "below"},
+    {LIGHT_FUNCTION_ABOVE, "above"},
+};
+
+constexpr StringToUint8 OUT_PIN_LEVELS_BY_STR[] = {
+    {"low", OUT_PIN_LEVEL_LOW},
+    {"high", OUT_PIN_LEVEL_HIGH},
+};
+
+constexpr Uint8ToString OUT_PIN_LEVELS_BY_UINT[] = {
+    {OUT_PIN_LEVEL_LOW, "low"},
+    {OUT_PIN_LEVEL_HIGH, "high"},
+};
+
+// Helper functions for lookups
+template<size_t N> uint8_t find_uint8(const StringToUint8 (&arr)[N], const std::string &str) {
+  for (const auto &entry : arr) {
+    if (str == entry.str) {
+      return entry.value;
+    }
+  }
+  return 0xFF;  // Not found
+}
+
+template<size_t N> const char *find_str(const Uint8ToString (&arr)[N], uint8_t value) {
+  for (const auto &entry : arr) {
+    if (value == entry.value) {
+      return entry.str;
+    }
+  }
+  return "";  // Not found
+}
+
+static constexpr uint8_t DEFAULT_PRESENCE_TIMEOUT = 5;  // Default used when number component is not defined
+// Commands
+static constexpr uint8_t CMD_ENABLE_CONF = 0xFF;
+static constexpr uint8_t CMD_DISABLE_CONF = 0xFE;
+static constexpr uint8_t CMD_ENABLE_ENG = 0x62;
+static constexpr uint8_t CMD_DISABLE_ENG = 0x63;
+static constexpr uint8_t CMD_QUERY_BASIC_CONF = 0x12;
+static constexpr uint8_t CMD_BASIC_CONF = 0x02;
+static constexpr uint8_t CMD_QUERY_VERSION = 0xA0;
+static constexpr uint8_t CMD_QUERY_DISTANCE_RESOLUTION = 0x11;
+static constexpr uint8_t CMD_SET_DISTANCE_RESOLUTION = 0x01;
+static constexpr uint8_t CMD_QUERY_LIGHT_CONTROL = 0x1C;
+static constexpr uint8_t CMD_SET_LIGHT_CONTROL = 0x0C;
+static constexpr uint8_t CMD_SET_BAUD_RATE = 0xA1;
+static constexpr uint8_t CMD_QUERY_MAC_ADDRESS = 0xA5;
+static constexpr uint8_t CMD_FACTORY_RESET = 0xA2;
+static constexpr uint8_t CMD_RESTART = 0xA3;
+static constexpr uint8_t CMD_BLUETOOTH = 0xA4;
+static constexpr uint8_t CMD_DYNAMIC_BACKGROUND_CORRECTION = 0x0B;
+static constexpr uint8_t CMD_QUERY_DYNAMIC_BACKGROUND_CORRECTION = 0x1B;
+static constexpr uint8_t CMD_MOTION_GATE_SENS = 0x03;
+static constexpr uint8_t CMD_QUERY_MOTION_GATE_SENS = 0x13;
+static constexpr uint8_t CMD_STATIC_GATE_SENS = 0x04;
+static constexpr uint8_t CMD_QUERY_STATIC_GATE_SENS = 0x14;
+static constexpr uint8_t CMD_NONE = 0x00;
+// Commands values
+static constexpr uint8_t CMD_MAX_MOVE_VALUE = 0x00;
+static constexpr uint8_t CMD_MAX_STILL_VALUE = 0x01;
+static constexpr uint8_t CMD_DURATION_VALUE = 0x02;
+// Bitmasks for target states
+static constexpr uint8_t MOVE_BITMASK = 0x01;
+static constexpr uint8_t STILL_BITMASK = 0x02;
+// Header & Footer size
+static constexpr uint8_t HEADER_FOOTER_SIZE = 4;
+// Command Header & Footer
+static constexpr uint8_t CMD_FRAME_HEADER[HEADER_FOOTER_SIZE] = {0xFD, 0xFC, 0xFB, 0xFA};
+static constexpr uint8_t CMD_FRAME_FOOTER[HEADER_FOOTER_SIZE] = {0x04, 0x03, 0x02, 0x01};
+// Data Header & Footer
+static constexpr uint8_t DATA_FRAME_HEADER[HEADER_FOOTER_SIZE] = {0xF4, 0xF3, 0xF2, 0xF1};
+static constexpr uint8_t DATA_FRAME_FOOTER[HEADER_FOOTER_SIZE] = {0xF8, 0xF7, 0xF6, 0xF5};
+// MAC address the module uses when Bluetooth is disabled
+static constexpr uint8_t NO_MAC[] = {0x08, 0x05, 0x04, 0x03, 0x02, 0x01};
+
+static inline int two_byte_to_int(char firstbyte, char secondbyte) { return (int16_t) (secondbyte << 8) + firstbyte; }
+
+static inline bool validate_header_footer(const uint8_t *header_footer, const uint8_t *buffer) {
+  return std::memcmp(header_footer, buffer, HEADER_FOOTER_SIZE) == 0;
+}
+
+void LD2412Component::dump_config() {
+  std::string mac_str =
+      mac_address_is_valid(this->mac_address_) ? format_mac_address_pretty(this->mac_address_) : UNKNOWN_MAC;
+  std::string version = str_sprintf(VERSION_FMT, this->version_[1], this->version_[0], this->version_[5],
+                                    this->version_[4], this->version_[3], this->version_[2]);
+  ESP_LOGCONFIG(TAG,
+                "LD2412:\n"
+                "  Firmware version: %s\n"
+                "  MAC address: %s",
+                version.c_str(), mac_str.c_str());
+#ifdef USE_BINARY_SENSOR
+  ESP_LOGCONFIG(TAG, "Binary Sensors:");
+  LOG_BINARY_SENSOR("  ", "DynamicBackgroundCorrectionStatus",
+                    this->dynamic_background_correction_status_binary_sensor_);
+  LOG_BINARY_SENSOR("  ", "MovingTarget", this->moving_target_binary_sensor_);
+  LOG_BINARY_SENSOR("  ", "StillTarget", this->still_target_binary_sensor_);
+  LOG_BINARY_SENSOR("  ", "Target", this->target_binary_sensor_);
+#endif
+#ifdef USE_SENSOR
+  ESP_LOGCONFIG(TAG, "Sensors:");
+  LOG_SENSOR_WITH_DEDUP_SAFE("  ", "Light", this->light_sensor_);
+  LOG_SENSOR_WITH_DEDUP_SAFE("  ", "DetectionDistance", this->detection_distance_sensor_);
+  LOG_SENSOR_WITH_DEDUP_SAFE("  ", "MovingTargetDistance", this->moving_target_distance_sensor_);
+  LOG_SENSOR_WITH_DEDUP_SAFE("  ", "MovingTargetEnergy", this->moving_target_energy_sensor_);
+  LOG_SENSOR_WITH_DEDUP_SAFE("  ", "StillTargetDistance", this->still_target_distance_sensor_);
+  LOG_SENSOR_WITH_DEDUP_SAFE("  ", "StillTargetEnergy", this->still_target_energy_sensor_);
+  for (auto &s : this->gate_still_sensors_) {
+    LOG_SENSOR_WITH_DEDUP_SAFE("  ", "GateStill", s);
+  }
+  for (auto &s : this->gate_move_sensors_) {
+    LOG_SENSOR_WITH_DEDUP_SAFE("  ", "GateMove", s);
+  }
+#endif
+#ifdef USE_TEXT_SENSOR
+  ESP_LOGCONFIG(TAG, "Text Sensors:");
+  LOG_TEXT_SENSOR("  ", "MAC address", this->mac_text_sensor_);
+  LOG_TEXT_SENSOR("  ", "Version", this->version_text_sensor_);
+#endif
+#ifdef USE_NUMBER
+  ESP_LOGCONFIG(TAG, "Numbers:");
+  LOG_NUMBER("  ", "LightThreshold", this->light_threshold_number_);
+  LOG_NUMBER("  ", "MaxDistanceGate", this->max_distance_gate_number_);
+  LOG_NUMBER("  ", "MinDistanceGate", this->min_distance_gate_number_);
+  LOG_NUMBER("  ", "Timeout", this->timeout_number_);
+  for (number::Number *n : this->gate_move_threshold_numbers_) {
+    LOG_NUMBER("  ", "Move Thresholds", n);
+  }
+  for (number::Number *n : this->gate_still_threshold_numbers_) {
+    LOG_NUMBER("  ", "Still Thresholds", n);
+  }
+#endif
+#ifdef USE_SELECT
+  ESP_LOGCONFIG(TAG, "Selects:");
+  LOG_SELECT("  ", "BaudRate", this->baud_rate_select_);
+  LOG_SELECT("  ", "DistanceResolution", this->distance_resolution_select_);
+  LOG_SELECT("  ", "LightFunction", this->light_function_select_);
+  LOG_SELECT("  ", "OutPinLevel", this->out_pin_level_select_);
+#endif
+#ifdef USE_SWITCH
+  ESP_LOGCONFIG(TAG, "Switches:");
+  LOG_SWITCH("  ", "Bluetooth", this->bluetooth_switch_);
+  LOG_SWITCH("  ", "EngineeringMode", this->engineering_mode_switch_);
+#endif
+#ifdef USE_BUTTON
+  ESP_LOGCONFIG(TAG, "Buttons:");
+  LOG_BUTTON("  ", "FactoryReset", this->factory_reset_button_);
+  LOG_BUTTON("  ", "Query", this->query_button_);
+  LOG_BUTTON("  ", "Restart", this->restart_button_);
+  LOG_BUTTON("  ", "StartDynamicBackgroundCorrection", this->start_dynamic_background_correction_button_);
+#endif
+}
+
+void LD2412Component::setup() {
+  ESP_LOGCONFIG(TAG, "Running setup");
+  this->read_all_info();
+}
+
+void LD2412Component::read_all_info() {
+  this->set_config_mode_(true);
+  this->get_version_();
+  delay(10);  // NOLINT
+  this->get_mac_();
+  delay(10);  // NOLINT
+  this->get_distance_resolution_();
+  delay(10);  // NOLINT
+  this->query_parameters_();
+  delay(10);  // NOLINT
+  this->query_dynamic_background_correction_();
+  delay(10);  // NOLINT
+  this->query_light_control_();
+  delay(10);  // NOLINT
+#ifdef USE_NUMBER
+  this->get_gate_threshold();
+  delay(10);  // NOLINT
+#endif
+  this->set_config_mode_(false);
+#ifdef USE_SELECT
+  const auto baud_rate = std::to_string(this->parent_->get_baud_rate());
+  if (this->baud_rate_select_ != nullptr) {
+    this->baud_rate_select_->publish_state(baud_rate);
+  }
+#endif
+}
+
+void LD2412Component::restart_and_read_all_info() {
+  this->set_config_mode_(true);
+  this->restart_();
+  this->set_timeout(1000, [this]() { this->read_all_info(); });
+}
+
+void LD2412Component::loop() {
+  while (this->available()) {
+    this->readline_(this->read());
+  }
+}
+
+void LD2412Component::send_command_(uint8_t command, const uint8_t *command_value, uint8_t command_value_len) {
+  ESP_LOGV(TAG, "Sending COMMAND %02X", command);
+  // frame header bytes
+  this->write_array(CMD_FRAME_HEADER, HEADER_FOOTER_SIZE);
+  // length bytes
+  uint8_t len = 2;
+  if (command_value != nullptr) {
+    len += command_value_len;
+  }
+  // 2 length bytes (low, high) + 2 command bytes (low, high)
+  uint8_t len_cmd[] = {len, 0x00, command, 0x00};
+  this->write_array(len_cmd, sizeof(len_cmd));
+
+  // command value bytes
+  if (command_value != nullptr) {
+    this->write_array(command_value, command_value_len);
+  }
+  // frame footer bytes
+  this->write_array(CMD_FRAME_FOOTER, HEADER_FOOTER_SIZE);
+
+  if (command != CMD_ENABLE_CONF && command != CMD_DISABLE_CONF) {
+    delay(30);  // NOLINT
+  }
+  delay(20);  // NOLINT
+}
+
+void LD2412Component::handle_periodic_data_() {
+  // 4 frame header bytes + 2 length bytes + 1 data end byte + 1 crc byte + 4 frame footer bytes
+  // data header=0xAA, data footer=0x55, crc=0x00
+  if (this->buffer_pos_ < 12 || !ld2412::validate_header_footer(DATA_FRAME_HEADER, this->buffer_data_) ||
+      this->buffer_data_[7] != HEADER || this->buffer_data_[this->buffer_pos_ - 6] != FOOTER) {
+    return;
+  }
+  /*
+    Data Type: 7th
+    0x01: Engineering mode
+    0x02: Normal mode
+  */
+  bool engineering_mode = this->buffer_data_[DATA_TYPES] == 0x01;
+#ifdef USE_SWITCH
+  if (this->engineering_mode_switch_ != nullptr) {
+    this->engineering_mode_switch_->publish_state(engineering_mode);
+  }
+#endif
+
+#ifdef USE_BINARY_SENSOR
+  /*
+    Target states: 9th
+    0x00 = No target
+    0x01 = Moving targets
+    0x02 = Still targets
+    0x03 = Moving+Still targets
+  */
+  char target_state = this->buffer_data_[TARGET_STATES];
+  if (this->target_binary_sensor_ != nullptr) {
+    this->target_binary_sensor_->publish_state(target_state != 0x00);
+  }
+  if (this->moving_target_binary_sensor_ != nullptr) {
+    this->moving_target_binary_sensor_->publish_state(target_state & MOVE_BITMASK);
+  }
+  if (this->still_target_binary_sensor_ != nullptr) {
+    this->still_target_binary_sensor_->publish_state(target_state & STILL_BITMASK);
+  }
+#endif
+  /*
+    Moving target distance: 10~11th bytes
+    Moving target energy: 12th byte
+    Still target distance: 13~14th bytes
+    Still target energy: 15th byte
+    Detect distance: 16~17th bytes
+  */
+#ifdef USE_SENSOR
+  SAFE_PUBLISH_SENSOR(
+      this->moving_target_distance_sensor_,
+      ld2412::two_byte_to_int(this->buffer_data_[MOVING_TARGET_LOW], this->buffer_data_[MOVING_TARGET_HIGH]))
+  SAFE_PUBLISH_SENSOR(this->moving_target_energy_sensor_, this->buffer_data_[MOVING_ENERGY])
+  SAFE_PUBLISH_SENSOR(
+      this->still_target_distance_sensor_,
+      ld2412::two_byte_to_int(this->buffer_data_[STILL_TARGET_LOW], this->buffer_data_[STILL_TARGET_HIGH]))
+  SAFE_PUBLISH_SENSOR(this->still_target_energy_sensor_, this->buffer_data_[STILL_ENERGY])
+  if (this->detection_distance_sensor_ != nullptr) {
+    int new_detect_distance = 0;
+    if (target_state != 0x00 && (target_state & MOVE_BITMASK)) {
+      new_detect_distance =
+          ld2412::two_byte_to_int(this->buffer_data_[MOVING_TARGET_LOW], this->buffer_data_[MOVING_TARGET_HIGH]);
+    } else if (target_state != 0x00) {
+      new_detect_distance =
+          ld2412::two_byte_to_int(this->buffer_data_[STILL_TARGET_LOW], this->buffer_data_[STILL_TARGET_HIGH]);
+    }
+    this->detection_distance_sensor_->publish_state_if_not_dup(new_detect_distance);
+  }
+  if (engineering_mode) {
+    /*
+      Moving distance range: 18th byte
+      Still distance range: 19th byte
+      Moving energy: 20~28th bytes
+    */
+    for (uint8_t i = 0; i < TOTAL_GATES; i++) {
+      SAFE_PUBLISH_SENSOR(this->gate_move_sensors_[i], this->buffer_data_[MOVING_SENSOR_START + i])
+    }
+    /*
+      Still energy: 29~37th bytes
+    */
+    for (uint8_t i = 0; i < TOTAL_GATES; i++) {
+      SAFE_PUBLISH_SENSOR(this->gate_still_sensors_[i], this->buffer_data_[STILL_SENSOR_START + i])
+    }
+    /*
+      Light sensor: 38th bytes
+    */
+    SAFE_PUBLISH_SENSOR(this->light_sensor_, this->buffer_data_[LIGHT_SENSOR])
+  } else {
+    for (auto &gate_move_sensor : this->gate_move_sensors_) {
+      SAFE_PUBLISH_SENSOR_UNKNOWN(gate_move_sensor)
+    }
+    for (auto &gate_still_sensor : this->gate_still_sensors_) {
+      SAFE_PUBLISH_SENSOR_UNKNOWN(gate_still_sensor)
+    }
+    SAFE_PUBLISH_SENSOR_UNKNOWN(this->light_sensor_)
+  }
+#endif
+  // the radar module won't tell us when it's done, so we just have to keep polling...
+  if (this->dynamic_background_correction_active_) {
+    this->set_config_mode_(true);
+    this->query_dynamic_background_correction_();
+    this->set_config_mode_(false);
+  }
+}
+
+#ifdef USE_NUMBER
+std::function<void(void)> set_number_value(number::Number *n, float value) {
+  if (n != nullptr && (!n->has_state() || n->state != value)) {
+    n->state = value;
+    return [n, value]() { n->publish_state(value); };
+  }
+  return []() {};
+}
+#endif
+
+bool LD2412Component::handle_ack_data_() {
+  ESP_LOGV(TAG, "Handling ACK DATA for COMMAND %02X", this->buffer_data_[COMMAND]);
+  if (this->buffer_pos_ < 10) {
+    ESP_LOGW(TAG, "Invalid length");
+    return true;
+  }
+  if (!ld2412::validate_header_footer(CMD_FRAME_HEADER, this->buffer_data_)) {
+    ESP_LOGW(TAG, "Invalid header: %s", format_hex_pretty(this->buffer_data_, HEADER_FOOTER_SIZE).c_str());
+    return true;
+  }
+  if (this->buffer_data_[COMMAND_STATUS] != 0x01) {
+    ESP_LOGW(TAG, "Invalid status");
+    return true;
+  }
+  if (this->buffer_data_[8] || this->buffer_data_[9]) {
+    ESP_LOGW(TAG, "Invalid command: %02X, %02X", this->buffer_data_[8], this->buffer_data_[9]);
+    return true;
+  }
+
+  switch (this->buffer_data_[COMMAND]) {
+    case CMD_ENABLE_CONF:
+      ESP_LOGV(TAG, "Enable conf");
+      break;
+
+    case CMD_DISABLE_CONF:
+      ESP_LOGV(TAG, "Disabled conf");
+      break;
+
+    case CMD_SET_BAUD_RATE:
+      ESP_LOGV(TAG, "Baud rate change");
+#ifdef USE_SELECT
+      if (this->baud_rate_select_ != nullptr) {
+        ESP_LOGW(TAG, "Change baud rate to %s and reinstall", this->baud_rate_select_->state.c_str());
+      }
+#endif
+      break;
+
+    case CMD_QUERY_VERSION: {
+      std::memcpy(this->version_, &this->buffer_data_[12], sizeof(this->version_));
+      std::string version = str_sprintf(VERSION_FMT, this->version_[1], this->version_[0], this->version_[5],
+                                        this->version_[4], this->version_[3], this->version_[2]);
+      ESP_LOGV(TAG, "Firmware version: %s", version.c_str());
+#ifdef USE_TEXT_SENSOR
+      if (this->version_text_sensor_ != nullptr) {
+        this->version_text_sensor_->publish_state(version);
+      }
+#endif
+      break;
+    }
+    case CMD_QUERY_DISTANCE_RESOLUTION: {
+      const auto *distance_resolution = find_str(DISTANCE_RESOLUTIONS_BY_UINT, this->buffer_data_[10]);
+      ESP_LOGV(TAG, "Distance resolution: %s", distance_resolution);
+#ifdef USE_SELECT
+      if (this->distance_resolution_select_ != nullptr) {
+        this->distance_resolution_select_->publish_state(distance_resolution);
+      }
+#endif
+      break;
+    }
+
+    case CMD_QUERY_LIGHT_CONTROL: {
+      this->light_function_ = this->buffer_data_[10];
+      this->light_threshold_ = this->buffer_data_[11];
+      const auto *light_function_str = find_str(LIGHT_FUNCTIONS_BY_UINT, this->light_function_);
+      ESP_LOGV(TAG,
+               "Light function: %s\n"
+               "Light threshold: %u",
+               light_function_str, this->light_threshold_);
+#ifdef USE_SELECT
+      if (this->light_function_select_ != nullptr) {
+        this->light_function_select_->publish_state(light_function_str);
+      }
+#endif
+#ifdef USE_NUMBER
+      if (this->light_threshold_number_ != nullptr) {
+        this->light_threshold_number_->publish_state(static_cast<float>(this->light_threshold_));
+      }
+#endif
+      break;
+    }
+
+    case CMD_QUERY_MAC_ADDRESS: {
+      if (this->buffer_pos_ < 20) {
+        return false;
+      }
+
+      this->bluetooth_on_ = std::memcmp(&this->buffer_data_[10], NO_MAC, sizeof(NO_MAC)) != 0;
+      if (this->bluetooth_on_) {
+        std::memcpy(this->mac_address_, &this->buffer_data_[10], sizeof(this->mac_address_));
+      }
+
+      std::string mac_str =
+          mac_address_is_valid(this->mac_address_) ? format_mac_address_pretty(this->mac_address_) : UNKNOWN_MAC;
+      ESP_LOGV(TAG, "MAC address: %s", mac_str.c_str());
+#ifdef USE_TEXT_SENSOR
+      if (this->mac_text_sensor_ != nullptr) {
+        this->mac_text_sensor_->publish_state(mac_str);
+      }
+#endif
+#ifdef USE_SWITCH
+      if (this->bluetooth_switch_ != nullptr) {
+        this->bluetooth_switch_->publish_state(this->bluetooth_on_);
+      }
+#endif
+      break;
+    }
+
+    case CMD_SET_DISTANCE_RESOLUTION:
+      ESP_LOGV(TAG, "Handled set distance resolution command");
+      break;
+
+    case CMD_QUERY_DYNAMIC_BACKGROUND_CORRECTION: {
+      ESP_LOGV(TAG, "Handled query dynamic background correction");
+      bool dynamic_background_correction_active = (this->buffer_data_[10] != 0x00);
+#ifdef USE_BINARY_SENSOR
+      if (this->dynamic_background_correction_status_binary_sensor_ != nullptr) {
+        this->dynamic_background_correction_status_binary_sensor_->publish_state(dynamic_background_correction_active);
+      }
+#endif
+      this->dynamic_background_correction_active_ = dynamic_background_correction_active;
+      break;
+    }
+
+    case CMD_BLUETOOTH:
+      ESP_LOGV(TAG, "Handled bluetooth command");
+      break;
+
+    case CMD_SET_LIGHT_CONTROL:
+      ESP_LOGV(TAG, "Handled set light control command");
+      break;
+
+    case CMD_QUERY_MOTION_GATE_SENS: {
+#ifdef USE_NUMBER
+      std::vector<std::function<void(void)>> updates;
+      updates.reserve(this->gate_still_threshold_numbers_.size());
+      for (size_t i = 0; i < this->gate_still_threshold_numbers_.size(); i++) {
+        updates.push_back(set_number_value(this->gate_move_threshold_numbers_[i], this->buffer_data_[10 + i]));
+      }
+      for (auto &update : updates) {
+        update();
+      }
+#endif
+      break;
+    }
+
+    case CMD_QUERY_STATIC_GATE_SENS: {
+#ifdef USE_NUMBER
+      std::vector<std::function<void(void)>> updates;
+      updates.reserve(this->gate_still_threshold_numbers_.size());
+      for (size_t i = 0; i < this->gate_still_threshold_numbers_.size(); i++) {
+        updates.push_back(set_number_value(this->gate_still_threshold_numbers_[i], this->buffer_data_[10 + i]));
+      }
+      for (auto &update : updates) {
+        update();
+      }
+#endif
+      break;
+    }
+
+    case CMD_QUERY_BASIC_CONF:  // Query parameters response
+    {
+#ifdef USE_NUMBER
+      /*
+        Moving distance range: 9th byte
+        Still distance range: 10th byte
+      */
+      std::vector<std::function<void(void)>> updates;
+      updates.push_back(set_number_value(this->min_distance_gate_number_, this->buffer_data_[10]));
+      updates.push_back(set_number_value(this->max_distance_gate_number_, this->buffer_data_[11] - 1));
+      ESP_LOGV(TAG, "min_distance_gate_number_: %u, max_distance_gate_number_ %u", this->buffer_data_[10],
+               this->buffer_data_[11]);
+      /*
+        None Duration: 11~12th bytes
+      */
+      updates.push_back(set_number_value(this->timeout_number_,
+                                         ld2412::two_byte_to_int(this->buffer_data_[12], this->buffer_data_[13])));
+      ESP_LOGV(TAG, "timeout_number_: %u", ld2412::two_byte_to_int(this->buffer_data_[12], this->buffer_data_[13]));
+      /*
+        Output pin configuration: 13th bytes
+      */
+      this->out_pin_level_ = this->buffer_data_[14];
+#ifdef USE_SELECT
+      const auto *out_pin_level_str = find_str(OUT_PIN_LEVELS_BY_UINT, this->out_pin_level_);
+      if (this->out_pin_level_select_ != nullptr) {
+        this->out_pin_level_select_->publish_state(out_pin_level_str);
+      }
+#endif
+      for (auto &update : updates) {
+        update();
+      }
+#endif
+    } break;
+    default:
+      break;
+  }
+
+  return true;
+}
+
+void LD2412Component::readline_(int readch) {
+  if (readch < 0) {
+    return;  // No data available
+  }
+  if (this->buffer_pos_ < HEADER_FOOTER_SIZE && readch != DATA_FRAME_HEADER[this->buffer_pos_] &&
+      readch != CMD_FRAME_HEADER[this->buffer_pos_]) {
+    this->buffer_pos_ = 0;
+    return;
+  }
+  if (this->buffer_pos_ < MAX_LINE_LENGTH - 1) {
+    this->buffer_data_[this->buffer_pos_++] = readch;
+    this->buffer_data_[this->buffer_pos_] = 0;
+  } else {
+    // We should never get here, but just in case...
+    ESP_LOGW(TAG, "Max command length exceeded; ignoring");
+    this->buffer_pos_ = 0;
+  }
+  if (this->buffer_pos_ < 4) {
+    return;  // Not enough data to process yet
+  }
+  if (ld2412::validate_header_footer(DATA_FRAME_FOOTER, &this->buffer_data_[this->buffer_pos_ - 4])) {
+    ESP_LOGV(TAG, "Handling Periodic Data: %s", format_hex_pretty(this->buffer_data_, this->buffer_pos_).c_str());
+    this->handle_periodic_data_();
+    this->buffer_pos_ = 0;  // Reset position index for next message
+  } else if (ld2412::validate_header_footer(CMD_FRAME_FOOTER, &this->buffer_data_[this->buffer_pos_ - 4])) {
+    ESP_LOGV(TAG, "Handling Ack Data: %s", format_hex_pretty(this->buffer_data_, this->buffer_pos_).c_str());
+    if (this->handle_ack_data_()) {
+      this->buffer_pos_ = 0;  // Reset position index for next message
+    } else {
+      ESP_LOGV(TAG, "Ack Data incomplete");
+    }
+  }
+}
+
+void LD2412Component::set_config_mode_(bool enable) {
+  const uint8_t cmd = enable ? CMD_ENABLE_CONF : CMD_DISABLE_CONF;
+  const uint8_t cmd_value[2] = {0x01, 0x00};
+  this->send_command_(cmd, enable ? cmd_value : nullptr, sizeof(cmd_value));
+}
+
+void LD2412Component::set_bluetooth(bool enable) {
+  this->set_config_mode_(true);
+  const uint8_t cmd_value[2] = {enable ? (uint8_t) 0x01 : (uint8_t) 0x00, 0x00};
+  this->send_command_(CMD_BLUETOOTH, cmd_value, sizeof(cmd_value));
+  this->set_timeout(200, [this]() { this->restart_and_read_all_info(); });
+}
+
+void LD2412Component::set_distance_resolution(const std::string &state) {
+  this->set_config_mode_(true);
+  const uint8_t cmd_value[6] = {find_uint8(DISTANCE_RESOLUTIONS_BY_STR, state), 0x00, 0x00, 0x00, 0x00, 0x00};
+  this->send_command_(CMD_SET_DISTANCE_RESOLUTION, cmd_value, sizeof(cmd_value));
+  this->set_timeout(200, [this]() { this->restart_and_read_all_info(); });
+}
+
+void LD2412Component::set_baud_rate(const std::string &state) {
+  this->set_config_mode_(true);
+  const uint8_t cmd_value[2] = {find_uint8(BAUD_RATES_BY_STR, state), 0x00};
+  this->send_command_(CMD_SET_BAUD_RATE, cmd_value, sizeof(cmd_value));
+  this->set_timeout(200, [this]() { this->restart_(); });
+}
+
+void LD2412Component::query_dynamic_background_correction_() {
+  this->send_command_(CMD_QUERY_DYNAMIC_BACKGROUND_CORRECTION, nullptr, 0);
+}
+
+void LD2412Component::start_dynamic_background_correction() {
+  if (this->dynamic_background_correction_active_) {
+    return;  // Already in progress
+  }
+#ifdef USE_BINARY_SENSOR
+  if (this->dynamic_background_correction_status_binary_sensor_ != nullptr) {
+    this->dynamic_background_correction_status_binary_sensor_->publish_state(true);
+  }
+#endif
+  this->dynamic_background_correction_active_ = true;
+  this->set_config_mode_(true);
+  this->send_command_(CMD_DYNAMIC_BACKGROUND_CORRECTION, nullptr, 0);
+  this->set_config_mode_(false);
+}
+
+void LD2412Component::set_engineering_mode(bool enable) {
+  const uint8_t cmd = enable ? CMD_ENABLE_ENG : CMD_DISABLE_ENG;
+  this->set_config_mode_(true);
+  this->send_command_(cmd, nullptr, 0);
+  this->set_config_mode_(false);
+}
+
+void LD2412Component::factory_reset() {
+  this->set_config_mode_(true);
+  this->send_command_(CMD_FACTORY_RESET, nullptr, 0);
+  this->set_timeout(2000, [this]() { this->restart_and_read_all_info(); });
+}
+
+void LD2412Component::restart_() { this->send_command_(CMD_RESTART, nullptr, 0); }
+
+void LD2412Component::query_parameters_() { this->send_command_(CMD_QUERY_BASIC_CONF, nullptr, 0); }
+
+void LD2412Component::get_version_() { this->send_command_(CMD_QUERY_VERSION, nullptr, 0); }
+
+void LD2412Component::get_mac_() {
+  const uint8_t cmd_value[2] = {0x01, 0x00};
+  this->send_command_(CMD_QUERY_MAC_ADDRESS, cmd_value, sizeof(cmd_value));
+}
+
+void LD2412Component::get_distance_resolution_() { this->send_command_(CMD_QUERY_DISTANCE_RESOLUTION, nullptr, 0); }
+
+void LD2412Component::query_light_control_() { this->send_command_(CMD_QUERY_LIGHT_CONTROL, nullptr, 0); }
+
+void LD2412Component::set_basic_config() {
+#ifdef USE_NUMBER
+  if (!this->min_distance_gate_number_->has_state() || !this->max_distance_gate_number_->has_state() ||
+      !this->timeout_number_->has_state()) {
+    return;
+  }
+#endif
+#ifdef USE_SELECT
+  if (!this->out_pin_level_select_->has_state()) {
+    return;
+  }
+#endif
+
+  uint8_t value[5] = {
+#ifdef USE_NUMBER
+      lowbyte(static_cast<int>(this->min_distance_gate_number_->state)),
+      lowbyte(static_cast<int>(this->max_distance_gate_number_->state) + 1),
+      lowbyte(static_cast<int>(this->timeout_number_->state)),
+      highbyte(static_cast<int>(this->timeout_number_->state)),
+#else
+      1,    TOTAL_GATES, DEFAULT_PRESENCE_TIMEOUT, 0,
+#endif
+#ifdef USE_SELECT
+      find_uint8(OUT_PIN_LEVELS_BY_STR, this->out_pin_level_select_->state),
+#else
+      0x01,  // Default value if not using select
+#endif
+  };
+  this->set_config_mode_(true);
+  this->send_command_(CMD_BASIC_CONF, value, sizeof(value));
+  this->set_config_mode_(false);
+}
+
+#ifdef USE_NUMBER
+void LD2412Component::set_gate_threshold() {
+  if (this->gate_move_threshold_numbers_.empty() && this->gate_still_threshold_numbers_.empty()) {
+    return;  // No gate threshold numbers set; nothing to do here
+  }
+  uint8_t value[TOTAL_GATES] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+  this->set_config_mode_(true);
+  if (!this->gate_move_threshold_numbers_.empty()) {
+    for (size_t i = 0; i < this->gate_move_threshold_numbers_.size(); i++) {
+      value[i] = lowbyte(static_cast<int>(this->gate_move_threshold_numbers_[i]->state));
+    }
+    this->send_command_(CMD_MOTION_GATE_SENS, value, sizeof(value));
+  }
+  if (!this->gate_still_threshold_numbers_.empty()) {
+    for (size_t i = 0; i < this->gate_still_threshold_numbers_.size(); i++) {
+      value[i] = lowbyte(static_cast<int>(this->gate_still_threshold_numbers_[i]->state));
+    }
+    this->send_command_(CMD_STATIC_GATE_SENS, value, sizeof(value));
+  }
+  this->set_config_mode_(false);
+}
+
+void LD2412Component::get_gate_threshold() {
+  this->send_command_(CMD_QUERY_MOTION_GATE_SENS, nullptr, 0);
+  this->send_command_(CMD_QUERY_STATIC_GATE_SENS, nullptr, 0);
+}
+
+void LD2412Component::set_gate_still_threshold_number(uint8_t gate, number::Number *n) {
+  this->gate_still_threshold_numbers_[gate] = n;
+}
+
+void LD2412Component::set_gate_move_threshold_number(uint8_t gate, number::Number *n) {
+  this->gate_move_threshold_numbers_[gate] = n;
+}
+#endif
+
+void LD2412Component::set_light_out_control() {
+#ifdef USE_NUMBER
+  if (this->light_threshold_number_ != nullptr && this->light_threshold_number_->has_state()) {
+    this->light_threshold_ = static_cast<uint8_t>(this->light_threshold_number_->state);
+  }
+#endif
+#ifdef USE_SELECT
+  if (this->light_function_select_ != nullptr && this->light_function_select_->has_state()) {
+    this->light_function_ = find_uint8(LIGHT_FUNCTIONS_BY_STR, this->light_function_select_->state);
+  }
+#endif
+  uint8_t value[2] = {this->light_function_, this->light_threshold_};
+  this->set_config_mode_(true);
+  this->send_command_(CMD_SET_LIGHT_CONTROL, value, sizeof(value));
+  this->query_light_control_();
+  this->set_timeout(200, [this]() { this->restart_and_read_all_info(); });
+}
+
+#ifdef USE_SENSOR
+// These could leak memory, but they are only set once prior to 'setup()' and should never be used again.
+void LD2412Component::set_gate_move_sensor(uint8_t gate, sensor::Sensor *s) {
+  this->gate_move_sensors_[gate] = new SensorWithDedup<uint8_t>(s);
+}
+void LD2412Component::set_gate_still_sensor(uint8_t gate, sensor::Sensor *s) {
+  this->gate_still_sensors_[gate] = new SensorWithDedup<uint8_t>(s);
+}
+#endif
+
+}  // namespace ld2412
+}  // namespace esphome