# This is a custom firmware for Human Presence Sensor 2A
# https://docs.screek.io/2a
# Current version synchronized with public version: V230818_2_beta

esphome:
  name: screek-humen-sensor-2a
  comment: Screek Human Sensor 2A
  friendly_name: Human Sensor 2A
  name_add_mac_suffix: True
  platformio_options:
    board_build.flash_mode: dio
    # board_build.f_cpu: 80000000L
  project: 
    name: Screek.Human_Presence_Sensor
    version: 2A
  on_boot:
    - priority: 900
      then:
        lambda: |-
          id(cpu_speed) = ESP.getCpuFreqMHz();
    - priority: -200
      then:
        lambda: |-
          id(zone1_target_exsits).publish_state(false);
          id(zone2_target_exsits).publish_state(false);
          id(zone3_target_exsits).publish_state(false);
          id(zone_ex1_target_exsits).publish_state(false);

preferences:
    flash_write_interval: 5s

external_components:
  - source:
      type: git
      url: https://github.com/screekworkshop/custom_components_support_for_screek_2a
      ref: main
    components: [esp32, uart]
  
esp32:
  board: lolin_c3_mini
  framework:
    type: arduino
    version: 2.0.9
    platform_version: 6.3.0

globals:
  - id: cpu_speed
    type: int
    restore_value: no
    initial_value: '0'
  - id: last_update_ld2450
    type: unsigned long
    restore_value: no
    initial_value: '0'
  - id: init_zone_publish
    type: bool
    restore_value: no
    initial_value: "false"
  - id: last_illuminance
    type: float
    restore_value: no
    initial_value: "-1"

improv_serial:
  
logger:

debug:
  update_interval: 30s

text_sensor:
  - platform: debug
    reset_reason:
      name: "ESP Reset Reason"
      icon: mdi:anchor
      disabled_by_default: True
  - platform: wifi_info
    ip_address:
      name: ESP IP Address
      entity_category: "diagnostic"
      disabled_by_default: True
      icon: mdi:ip-network
    mac_address:
      name: ESP MAC
      entity_category: "diagnostic"
      icon: mdi:ip-network
      disabled_by_default: True
  - platform: template
    name: "Zone1 Info"
    id: tips_zone1_conf
    icon: mdi:information-outline
    entity_category: config
    lambda: |-
      return {"Configure below" };
    update_interval: 1000s
  - platform: template
    name: "Zone2 Info"
    id: tips_zone2_conf
    icon: mdi:information-outline
    entity_category: config
    lambda: |-
      return {"Configure below" };
    update_interval: 1000s
  - platform: template
    name: "Zone3 Info"
    id: tips_zone3_conf
    icon: mdi:information-outline
    entity_category: config
    lambda: |-
      return {"Configure below" };
    update_interval: 1000s
  - platform: template
    name: "Zout1 Info"
    id: tips_zone_ex1_conf
    icon: mdi:information-outline
    entity_category: config
    lambda: |-
      return {"Zone Exclusion 1" };
    update_interval: 1000s

api:

ota:
  # use your own ota password plz. this is a words by Socrates.
  password: "all-things-in-their-being-are-good-for-something"
  safe_mode: False

wifi:
  power_save_mode: LIGHT
  reboot_timeout: 10min
  ap:
    ssid: "HUMAN-SENSOR 2A"

captive_portal:

web_server:
  port: 80

number:
  - platform: template
    name: Zone1 X-Begin
    id: zone1_x_begin
    min_value: -3000
    max_value: 3000
    mode: box
    device_class: distance
    entity_category: config
    unit_of_measurement: mm
    icon: mdi:arrow-left-bold
    step: 10
    optimistic: True
    initial_value: 0
    restore_value: True
  - platform: template
    name: Zone1 X-End
    id: zone1_x_end
    mode: box
    min_value: -3000
    max_value: 3000
    device_class: distance
    unit_of_measurement: mm
    entity_category: config
    icon: mdi:arrow-right-bold
    step: 10
    initial_value: 0
    optimistic: True
    restore_value: True
  - platform: template
    name: Zone1 Y-Begin
    id: zone1_y_begin
    mode: box
    min_value: 0
    max_value: 6000
    device_class: distance
    entity_category: config
    icon: mdi:arrow-up-bold
    unit_of_measurement: mm
    step: 10
    initial_value: 0
    optimistic: True
    restore_value: True
  - platform: template
    name: Zone1 Y-End
    id: zone1_y_end
    icon: mdi:arrow-down-bold
    mode: box
    min_value: 0
    max_value: 6000
    initial_value: 0
    entity_category: config
    device_class: distance
    unit_of_measurement: mm
    step: 10
    optimistic: True
    restore_value: True
  - platform: template
    name: Zone2 X-Begin
    id: zone2_x_begin
    min_value: -3000
    max_value: 3000
    mode: box
    device_class: distance
    entity_category: config
    unit_of_measurement: mm
    icon: mdi:arrow-left-bold
    step: 10
    optimistic: True
    initial_value: 0
    restore_value: True
  - platform: template
    name: Zone2 X-End
    id: zone2_x_end
    mode: box
    min_value: -3000
    max_value: 3000
    device_class: distance
    unit_of_measurement: mm
    entity_category: config
    icon: mdi:arrow-right-bold
    step: 10
    initial_value: 0
    optimistic: True
    restore_value: True
  - platform: template
    name: Zone2 Y-Begin
    id: zone2_y_begin
    mode: box
    min_value: 0
    max_value: 6000
    device_class: distance
    entity_category: config
    icon: mdi:arrow-up-bold
    unit_of_measurement: mm
    step: 10
    initial_value: 0
    optimistic: True
    restore_value: True
  - platform: template
    name: Zone2 Y-End
    id: zone2_y_end
    icon: mdi:arrow-down-bold
    mode: box
    min_value: 0
    max_value: 6000
    initial_value: 0
    entity_category: config
    device_class: distance
    unit_of_measurement: mm
    step: 10
    optimistic: True
    restore_value: True
  - platform: template
    name: Zone3 X-Begin
    id: zone3_x_begin
    min_value: -3000
    max_value: 3000
    mode: box
    device_class: distance
    entity_category: config
    unit_of_measurement: mm
    icon: mdi:arrow-left-bold
    step: 10
    optimistic: True
    initial_value: 0
    restore_value: True
  - platform: template
    name: Zone3 X-End
    id: zone3_x_end
    mode: box
    min_value: -3000
    max_value: 3000
    device_class: distance
    unit_of_measurement: mm
    entity_category: config
    icon: mdi:arrow-right-bold
    step: 10
    initial_value: 0
    optimistic: True
    restore_value: True
  - platform: template
    name: Zone3 Y-Begin
    id: zone3_y_begin
    mode: box
    min_value: 0
    max_value: 6000
    device_class: distance
    entity_category: config
    icon: mdi:arrow-up-bold
    unit_of_measurement: mm
    step: 10
    initial_value: 0
    optimistic: True
    restore_value: True
  - platform: template
    name: Zone3 Y-End
    id: zone3_y_end
    icon: mdi:arrow-down-bold
    mode: box
    min_value: 0
    max_value: 6000
    initial_value: 0
    entity_category: config
    device_class: distance
    unit_of_measurement: mm
    step: 10
    optimistic: True
    restore_value: True
  - platform: template
    name: Zout1 X-Begin
    id: zone_ex1_x_begin
    min_value: -3000
    max_value: 3000
    mode: box
    device_class: distance
    entity_category: config
    unit_of_measurement: mm
    icon: mdi:arrow-left-bold
    step: 10
    optimistic: True
    initial_value: 0
    restore_value: True
  - platform: template
    name: Zout1 X-End
    id: zone_ex1_x_end
    mode: box
    min_value: -3000
    max_value: 3000
    device_class: distance
    unit_of_measurement: mm
    entity_category: config
    icon: mdi:arrow-right-bold
    step: 10
    initial_value: 0
    optimistic: True
    restore_value: True
  - platform: template
    name: Zout1 Y-Begin
    id: zone_ex1_y_begin
    mode: box
    min_value: 0
    max_value: 6000
    device_class: distance
    entity_category: config
    icon: mdi:arrow-up-bold
    unit_of_measurement: mm
    step: 10
    initial_value: 0
    optimistic: True
    restore_value: True
  - platform: template
    name: Zout1 Y-End
    id: zone_ex1_y_end
    icon: mdi:arrow-down-bold
    mode: box
    min_value: 0
    max_value: 6000
    initial_value: 0
    entity_category: config
    device_class: distance
    unit_of_measurement: mm
    step: 10
    optimistic: True
    restore_value: True

binary_sensor:
  - platform: status
    name: Online
    id: ink_ha_connected
  - platform: template
    name: "Any Presence"
    id: any_target_exsits
    device_class: occupancy
  - platform: template
    name: "Zone1 Presence"
    id: zone1_target_exsits
    device_class: occupancy
  - platform: template
    name: "Zone2 Presence"
    id: zone2_target_exsits
    device_class: occupancy
  - platform: template
    name: "Zone3 Presence"
    id: zone3_target_exsits
    device_class: occupancy
  - platform: template
    name: "Zout1 Presence"
    id: zone_ex1_target_exsits
    icon: mdi:account-multiple-remove
    device_class: occupancy

i2c:
  sda: GPIO7
  scl: GPIO11
  scan: true
  id: bus_a

sensor:
  - platform: template
    name: "ESP CPU Speed"
    accuracy_decimals: 0
    icon: mdi:cpu-32-bit
    unit_of_measurement: Mhz
    disabled_by_default: True
    lambda: |-
      return (id(cpu_speed));
    entity_category: "diagnostic"
    update_interval: 600s
  - platform: template
    id: sys_esp_temperature
    name: ESP Temperature
    lambda: return temperatureRead();
    unit_of_measurement: °C
    device_class: TEMPERATURE
    update_interval: 45s
    entity_category: "diagnostic"
  - platform: uptime
    name: ESP Uptime
    id: sys_uptime
    update_interval: 60s
  - platform: wifi_signal 
    name: RSSI
    id: wifi_signal_db
    update_interval: 60s
    entity_category: "diagnostic"
  - platform: template
    id: esp_memory
    icon: mdi:memory
    name: ESP Free Memory
    lambda: return heap_caps_get_free_size(MALLOC_CAP_INTERNAL) / 1024;
    unit_of_measurement: 'kB'
    state_class: measurement
    entity_category: "diagnostic"
    update_interval: 60s
  - platform: bh1750
    name: "Illuminance"
    accuracy_decimals: 1
    id: bh1750_light
    update_interval: 1s
    filters:
      - lambda: !lambda |-
          if (id(last_illuminance) == x){
            return {};
          }
          if (id(bh1750_fast_update).state){
            id(last_illuminance) = x;
            return x;
          }
          if (abs(id(last_illuminance) - x) > 1){
              id(last_illuminance) = x;
              return x;
          }
          return {};

  - platform: template
    name: "All Target Counts"
    id: all_target_count
    accuracy_decimals: 0
    icon: "mdi:counter"
    unit_of_measurement: "targets"
  - platform: template
    name: "Zone1 Target Counts"
    id: zone1_target_count
    accuracy_decimals: 0
    icon: "mdi:counter"
    unit_of_measurement: "targets"
  - platform: template
    name: "Zone2 Target Counts"
    id: zone2_target_count
    accuracy_decimals: 0
    icon: "mdi:counter"
    unit_of_measurement: "targets"
  - platform: template
    name: "Zone3 Target Counts"
    id: zone3_target_count
    accuracy_decimals: 0
    icon: "mdi:counter"
    unit_of_measurement: "targets"
  - platform: template
    name: "Zout1 Target Counts"
    id: zone_ex1_target_count
    accuracy_decimals: 0
    icon: mdi:account-multiple-minus-outline
    unit_of_measurement: "targets"
  - platform: template
    name: "Target1 X"
    id: target1_x
    accuracy_decimals: 0
    unit_of_measurement: 'mm'
    state_class: measurement
    device_class: distance
  - platform: template
    name: "Target1 Y"
    id: target1_y
    accuracy_decimals: 0
    unit_of_measurement: 'mm'
    state_class: measurement
    device_class: distance
  - platform: template
    name: "Target1 Speed"
    id: target1_speed
    accuracy_decimals: 2
    unit_of_measurement: 'm/s'
    state_class: measurement
    device_class: speed
  - platform: template
    name: "Target1 Resolution"
    id: target1_resolution
    accuracy_decimals: 0
    unit_of_measurement: 'mm'
    state_class: measurement
    device_class: distance
  - platform: template
    name: "Target2 X"
    id: target2_x
    accuracy_decimals: 0
    unit_of_measurement: 'mm'
    state_class: measurement
    device_class: distance
    # update_interval: 1s
  - platform: template
    name: "Target2 Y"
    id: target2_y
    accuracy_decimals: 0
    unit_of_measurement: 'mm'
    state_class: measurement
    device_class: distance
  - platform: template
    name: "Target2 Speed"
    id: target2_speed
    accuracy_decimals: 0
    unit_of_measurement: 'm/s'
    state_class: measurement
    device_class: speed
  - platform: template
    name: "Target2 Resolution"
    id: target2_resolution
    accuracy_decimals: 0
    unit_of_measurement: 'mm'
    state_class: measurement
    device_class: distance
  - platform: template
    name: "Target3 X"
    id: target3_x
    accuracy_decimals: 0
    unit_of_measurement: 'mm'
    state_class: measurement
    device_class: distance
  - platform: template
    name: "Target3 Y"
    id: target3_y
    accuracy_decimals: 0
    unit_of_measurement: 'mm'
    state_class: measurement
    device_class: distance
  - platform: template
    name: "Target3 Speed"
    id: target3_speed
    accuracy_decimals: 0
    unit_of_measurement: 'm/s'
    state_class: measurement
    device_class: speed
    # update_interval: 1s
  - platform: template
    name: "Target3 Resolution"
    id: target3_resolution
    accuracy_decimals: 0
    unit_of_measurement: 'mm'
    state_class: measurement
    device_class: distance

light:
  - platform: status_led
    name: sys_status
    pin: GPIO13
    internal: True
    restore_mode: ALWAYS_OFF
  - platform: binary
    name: "Red Info Light"
    output: board_info_ed
    entity_category: "config"
    restore_mode: ALWAYS_OFF

time:
  - platform: sntp
    id: time_now

output:
  - platform: gpio
    id: board_info_ed
    pin: GPIO12

switch:
  - platform: factory_reset
    name: Factory Reset
    disabled_by_default: True
    icon: mdi:heart-broken
  - platform: template
    name: Zout1 Enable
    id: zone_ex1_enable
    optimistic: True
    icon: mdi:account-cancel
    entity_category: config
    restore_mode: RESTORE_DEFAULT_OFF
  - platform: template
    name: Illuminance Fast-Update
    id: bh1750_fast_update
    optimistic: True
    entity_category: diagnostic
    restore_mode: RESTORE_DEFAULT_OFF
    icon: mdi:run-fast

button:
  - platform: restart
    icon: mdi:power-cycle
    name: "ESP Reboot"
    entity_category: diagnostic
  
uart:
  id: uart_bus
  tx_pin: 
    number: GPIO5
    mode:
      input: true
      pullup: true
  rx_pin: 
    number: GPIO4
    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: |-
          if ((millis() - id(last_update_ld2450)) <= 500) { 
            return;
          };
          id(last_update_ld2450) = 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;
          }

          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;
          }

          int 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;
          }

          int 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;
          }

          int 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] )); 

          bool p1_vaild = (p1_x != 0 || p1_y > 0);
          bool p2_vaild = (p2_x != 0 || p2_y > 0);
          bool p3_vaild = (p3_x != 0 || p3_y > 0);

          int16_t target_count_in_zone_ex1 = 0;

          int16_t zone_ex1_x_min = id(zone_ex1_x_begin).state; // - x_ex_tolerance;
          int16_t zone_ex1_x_max = id(zone_ex1_x_end).state; // + x_ex_tolerance;
          int16_t zone_ex1_y_min = id(zone_ex1_y_begin).state; // - y_ex_tolerance;
          int16_t zone_ex1_y_max = id(zone_ex1_y_end).state; // + y_ex_tolerance;

          bool p1_zone_ex_enter = false;
          bool p2_zone_ex_enter = false;
          bool p3_zone_ex_enter = false;

          if (id(zone_ex1_enable).state){
            if (p1_vaild){
              if (p1_x >= zone_ex1_x_min && p1_x <= zone_ex1_x_max && p1_y >= zone_ex1_y_min && p1_y <= zone_ex1_y_max){
                  p1_zone_ex_enter = true;
                  target_count_in_zone_ex1 ++;
              }
            }
            if (p2_vaild){
              if (p2_x >= zone_ex1_x_min && p2_x <= zone_ex1_x_max && p2_y >= zone_ex1_y_min && p2_y <= zone_ex1_y_max){
                  p2_zone_ex_enter = true;
                  target_count_in_zone_ex1 ++;
              }
            }
            if (p3_vaild){
              if (p3_x >= zone_ex1_x_min && p3_x <= zone_ex1_x_max && p3_y >= zone_ex1_y_min && p3_y <= zone_ex1_y_max){
                  p3_zone_ex_enter = true;
                  target_count_in_zone_ex1 ++;
              }
            }
          }

          bool has_target_in_zone_ex1 = (target_count_in_zone_ex1 > 0);
          
          int16_t all_target_counts = 0;
          if (p1_vaild && !p1_zone_ex_enter){
            all_target_counts ++;
          }
          if (p2_vaild && !p2_zone_ex_enter){
            all_target_counts ++;
          }
          if (p3_vaild && !p3_zone_ex_enter){
            all_target_counts ++;
          }

          bool has_target_in_zone_all = (all_target_counts > 0);

          int16_t target_count_in_zone1 = 0;
          int16_t zone1_x_min = id(zone1_x_begin).state; // - x_tolerance;
          int16_t zone1_x_max = id(zone1_x_end).state; // + x_tolerance;
          int16_t zone1_y_min = id(zone1_y_begin).state; // - y_tolerance;
          int16_t zone1_y_max = id(zone1_y_end).state; // + y_tolerance;

          if (p1_vaild && !p1_zone_ex_enter){
            if (p1_x >= zone1_x_min && p1_x <= zone1_x_max && p1_y >= zone1_y_min && p1_y <= zone1_y_max){
                target_count_in_zone1 ++;
            }
          }
          if (p2_vaild && !p2_zone_ex_enter){
            if (p2_x >= zone1_x_min && p2_x <= zone1_x_max && p2_y >= zone1_y_min && p2_y <= zone1_y_max){
                target_count_in_zone1 ++;
            }
          }
          if (p3_vaild && !p3_zone_ex_enter){
            if (p3_x >= zone1_x_min && p3_x <= zone1_x_max && p3_y >= zone1_y_min && p3_y <= zone1_y_max){
                target_count_in_zone1 ++;
            }
          }
          bool has_target_in_zone1 = (target_count_in_zone1 > 0);

          int16_t target_count_in_zone2 = 0;
          int16_t zone2_x_min = id(zone2_x_begin).state; // - x_tolerance;
          int16_t zone2_x_max = id(zone2_x_end).state; // + x_tolerance;
          int16_t zone2_y_min = id(zone2_y_begin).state; // - y_tolerance;
          int16_t zone2_y_max = id(zone2_y_end).state; // + y_tolerance;

          if (p1_vaild && !p1_zone_ex_enter){
            if (p1_x >= zone2_x_min && p1_x <= zone2_x_max && p1_y >= zone2_y_min && p1_y <= zone2_y_max){
                target_count_in_zone2 ++;
            }
          }
          if (p2_vaild && !p2_zone_ex_enter){
            if (p2_x >= zone2_x_min && p2_x <= zone2_x_max && p2_y >= zone2_y_min && p2_y <= zone2_y_max){
                target_count_in_zone2 ++;
            }
          }
          if (p3_vaild && !p3_zone_ex_enter){
            if (p3_x >= zone2_x_min && p3_x <= zone2_x_max && p3_y >= zone2_y_min && p3_y <= zone2_y_max){
                target_count_in_zone2 ++;
            }
          }

          bool has_target_in_zone2 = (target_count_in_zone2 > 0);

          int16_t target_count_in_zone3 = 0;
          int16_t zone3_x_min = id(zone3_x_begin).state; // - x_tolerance;
          int16_t zone3_x_max = id(zone3_x_end).state; // + x_tolerance;
          int16_t zone3_y_min = id(zone3_y_begin).state; // - y_tolerance;
          int16_t zone3_y_max = id(zone3_y_end).state; // + y_tolerance;

          if (p1_vaild && !p1_zone_ex_enter){
            if (p1_x >= zone3_x_min && p1_x <= zone3_x_max && p1_y >= zone3_y_min && p1_y <= zone3_y_max){
                target_count_in_zone3 ++;
            }
          }
          if (p2_vaild && !p2_zone_ex_enter){
            if (p2_x >= zone3_x_min && p2_x <= zone3_x_max && p2_y >= zone3_y_min && p2_y <= zone3_y_max){
                target_count_in_zone3 ++;
            }
          }
          if (p3_vaild && !p3_zone_ex_enter){
            if (p3_x >= zone3_x_min && p3_x <= zone3_x_max && p3_y >= zone3_y_min && p3_y <= zone3_y_max){
                target_count_in_zone3 ++;
            }
          }
          bool has_target_in_zone3 = (target_count_in_zone3 > 0);

          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);
          }

          float p1_m_speed = float(p1_speed) / 100.0;
          if (id(target1_speed).state != p1_m_speed){
            id(target1_speed).publish_state(p1_m_speed);
          }
          if (id(target1_resolution).state != p1_distance_resolution){
            id(target1_resolution).publish_state(p1_distance_resolution);
          }

          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);
          }
          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(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);
          }
          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(all_target_count).state != all_target_counts){
            id(all_target_count).publish_state(all_target_counts);
          }
          if (id(any_target_exsits).state != has_target_in_zone_all){
            id(any_target_exsits).publish_state(has_target_in_zone_all);
          }

          if (id(zone1_target_count).state != target_count_in_zone1){
            id(zone1_target_count).publish_state(target_count_in_zone1);
          }
          if (id(zone1_target_exsits).state != has_target_in_zone1){
            id(zone1_target_exsits).publish_state(has_target_in_zone1);
          }

          if (id(zone2_target_count).state != target_count_in_zone2){
            id(zone2_target_count).publish_state(target_count_in_zone2);
          }
          if (id(zone2_target_exsits).state != has_target_in_zone2 ){
            id(zone2_target_exsits).publish_state(has_target_in_zone2);
          }

          if (id(zone3_target_count).state != target_count_in_zone3){
            id(zone3_target_count).publish_state(target_count_in_zone3);
          }
          if (id(zone3_target_exsits).state != has_target_in_zone3){
            id(zone3_target_exsits).publish_state(has_target_in_zone3);
          }
          
          if (id(zone_ex1_target_count).state != target_count_in_zone_ex1){
            id(zone_ex1_target_count).publish_state(target_count_in_zone_ex1);
          }

          if (id(zone_ex1_target_exsits).state != has_target_in_zone_ex1){
            id(zone_ex1_target_exsits).publish_state(has_target_in_zone_ex1);
          }

          id(init_zone_publish) = true;