Add distance sensor, rewrite OLED to use new i2c library

main/control/DistanceSensor.cpp

@@ -0,0 +1,70 @@
+
+#include "SensorMessageBuilder.h"
+#include "constants/module.h"
+#include "control/DistanceSensor.h"
+#include "esp_log.h"
+
+#define I2C_PORT 1
+#define XSHUT_PIN -1
+#define TAG "DistanceSensor"
+
+DistanceSensor::DistanceSensor() {
+    i2c_master_bus_config_t bus_config = {
+        .i2c_port = I2C_PORT,
+        .sda_io_num = (gpio_num_t)DISTANCE_SDA,
+        .scl_io_num = (gpio_num_t)DISTANCE_SCL,
+        .clk_source = I2C_CLK_SRC_DEFAULT,
+        .glitch_ignore_cnt = 7,
+        .flags = {
+            .enable_internal_pullup = true,
+        }
+    };
+
+    i2c_master_bus_handle_t bus_handle;
+    i2c_new_master_bus(&bus_config, &bus_handle);
+
+    // Initialize first sensor with default address
+    m_sensor= vl53l0x_config_with_bus(bus_handle, XSHUT_PIN, 0x29, 1);
+    vl53l0x_init(m_sensor);
+    vl53l0x_setAddress(m_sensor, 0x30);  // Change address
+
+    // Start continuous ranging on both
+    vl53l0x_startContinuous(m_sensor, 0);
+
+
+    // m_sensor = vl53l0x_config(I2C_PORT, DISTANCE_SCL, DISTANCE_SDA, XSHUT_PIN, 0x29, 1);
+    // if (!m_sensor) {
+    //     ESP_LOGE(TAG, "Failed to configure sensor");
+    //     return;
+    // }
+
+    // const char *err = vl53l0x_init(m_sensor);
+    // if (err) {
+    //     ESP_LOGE(TAG, "Init failed: %s", err);
+    //     vl53l0x_end(m_sensor);
+    //     m_sensor = nullptr;
+    //     return;
+    // }
+
+    // // Start continuous ranging
+    // vl53l0x_startContinuous(m_sensor, 0);
+}
+
+DistanceSensor::~DistanceSensor() {
+    if (m_sensor == nullptr) {
+        return;
+    }
+
+    vl53l0x_end(m_sensor);
+}
+
+std::vector<Flatbuffers::sensor_value> DistanceSensor::get_sensor_data() {
+    uint16_t range = vl53l0x_readRangeContinuousMillimeters(m_sensor);
+    if (range == 65535) {
+        ESP_LOGW(TAG, "Out of range or timeout");
+    } else {
+        ESP_LOGI(TAG, "Range: %d mm", range);
+        return {Flatbuffers::distance{(float)range}};
+    }
+    return {{}};
+}

main/control/OledActuator.cpp

@@ -19,6 +19,7 @@ void OledActuator::actuate(uint8_t *cmd) {
     const auto new_str = text_control_message->message()->str();
 
     if (m_display_str != new_str) {
+
         m_display_str = new_str;
 
         m_oled->clear_display();

main/control/SensorFactory.cpp

@@ -0,0 +1,15 @@
+
+#include <memory>
+
+#include "control/SensorFactory.h"
+#include "control/DistanceSensor.h"
+#include "flatbuffers_generated/RobotModule_generated.h"
+
+std::unique_ptr<ISensor> SensorFactory::create_sensor(const ModuleType type) {
+  switch (type) {
+  case ModuleType_DISTANCE_SENSOR:
+    return std::make_unique<DistanceSensor>();
+  default:
+    return nullptr;
+  }
+}