colorsensor.h

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#pragma once
 
#include <driver/i2c_types.h>
#include "types/rgb_color.h"
#include "include/log_sources.h"
 
class Robot;
 
namespace Device {
    class Colorsensor {
    private:
        static constexpr const char* TAG = "Device::Colorsensor";
        static constexpr log_source LOG_SOURCE = LOG_SOURCE_DEVICE_COLORSENSOR;
 
        static constexpr uint8_t I2C_ADDRESS = 0x29;
        static constexpr uint32_t I2C_CLOCK_SPEED = 400'000;
        static constexpr uint8_t TCS34725_DEVICE_ID = 0x44;
 
        Robot& robot;
        i2c_master_dev_handle_t device_handle;
        rgb_color_t color;
 
    private:
        void write_register(uint8_t register_address, uint8_t value) const;

        [[nodiscard]] uint8_t read_register(uint8_t register_address) const;
 
    private:
        #include "colorsensor_registers.inc.h"
 
 
    public:
        explicit Colorsensor(Robot& robot);
        ~Colorsensor();

        void initialize();

        void measure();

        [[nodiscard]] rgb_color_t get_color() const { return color; }
    };
}