New sensor MPU6050

[petr-stupka]

This pull request includes significant updates to the sensor configuration and implementation, particularly for the MPU-6050 sensor, as well as improvements to the handling of sensor data in the server module. The changes enhance the flexibility and functionality of the sensor system.

Sensor Configuration and Implementation:

• mqtt_io/config/config.schema.yml: Updated the sensor_inputs configuration to allow floating-point values for the interval and reduced the minimum value to 0.1 seconds.
• mqtt_io/modules/sensor/mpu6050.py: Added a new implementation for the MPU-6050 Gyroscope/Accelerometer sensor, including configuration schema, initialization, and data reading methods.

Server Module Enhancements:

• mqtt_io/server.py: Added JSON import to support new functionality.
• mqtt_io/server.py: Modified publish_sensor_callback to convert sensor values to JSON strings if they are dictionaries.
• mqtt_io/server.py: Updated get_sensor_value to skip rounding if the sensor value is a dictionary.

Sensor config:

sensor_modules:

  - name: mpu6050
    module: mpu6050
    chip_addr: 0x69

sensor_inputs:

  - name: gyro
    module: mpu6050
    interval: 0.1

Sensor output:

2025-02-05 09:31:34 mqtt_io.server [INFO] Read sensor 'gyro' value of {'gyro_x': -280, 'gyro_y': 102, 'gyro_z': 94, 'angle_x': 2.9907613976619283, 'angle_y': -2.934957982527787}
2025-02-05 09:31:34 mqtt_io.server [INFO] Read sensor 'gyro' value of {'gyro_x': -307, 'gyro_y': 110, 'gyro_z': 89, 'angle_x': 3.2418049788882777, 'angle_y': -2.5581444189852265}
2025-02-05 09:31:34 mqtt_io.server [INFO] Read sensor 'gyro' value of {'gyro_x': -287, 'gyro_y': 111, 'gyro_z': 74, 'angle_x': 3.1441911935503275, 'angle_y': -2.6698174414062046}
2025-02-05 09:31:34 mqtt_io.server [INFO] Read sensor 'gyro' value of {'gyro_x': -299, 'gyro_y': 98, 'gyro_z': 99, 'angle_x': 3.032610238196618, 'angle_y': -2.7116896376607555}
2025-02-05 09:31:34 mqtt_io.server [INFO] Read sensor 'gyro' value of {'gyro_x': -273, 'gyro_y': 136, 'gyro_z': 105, 'angle_x': 3.032610238196618, 'angle_y': -2.61398341444651}
2025-02-05 09:31:34 mqtt_io.server [INFO] Read sensor 'gyro' value of {'gyro_x': -287, 'gyro_y': 126, 'gyro_z': 113, 'angle_x': 2.8512424422652436, 'angle_y': -2.76751471624175}
2025-02-05 09:31:35 mqtt_io.server [INFO] Read sensor 'gyro' value of {'gyro_x': -296, 'gyro_y': 129, 'gyro_z': 114, 'angle_x': 3.0186609823291506, 'angle_y': -3.0744558402579947}