i2c.h

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#pragma once
 
#include <vector>
#include <soc/gpio_num.h>
#include <driver/i2c_master.h>
#include <freertos/FreeRTOS.h>

namespace HAL::I2C {
    struct bus_config_t {
        i2c_port_num_t port;
        gpio_num_t sda_pin;
        gpio_num_t scl_pin;
    };
 
    struct device_config_t {
        uint16_t address;
        uint32_t clock_speed;
        i2c_addr_bit_len_t address_bit_length;
    };

    class Controller {
    private:
        static constexpr const char* TAG = "HAL::I2C";
 
        mutable SemaphoreHandle_t mutex;
 
        bus_config_t config;
        bool is_configured;
 
        i2c_master_bus_handle_t bus_handle = nullptr;
 
        std::vector<i2c_master_dev_handle_t> registered_devices;
 
    private:
        explicit Controller();
        ~Controller();
 
    public:
        Controller(const Controller&) = delete;
        Controller& operator=(const Controller&) = delete;

        static Controller& get_instance() {
            static Controller _instance;
            return _instance;
        }

        void configure(const bus_config_t& config);

        void shutdown();

        void scan_for_devices() const;

        i2c_master_dev_handle_t add_device(const device_config_t& config);

        [[nodiscard]] i2c_master_bus_handle_t get_bus_handle() const { return bus_handle; }

        void write(i2c_master_dev_handle_t device_handle, const uint8_t* data, size_t size, int32_t timeout_ms = -1) const;

        void read(i2c_master_dev_handle_t device_handle, uint8_t* buffer, size_t size, int32_t timeout_ms = -1) const;

        void write_read(i2c_master_dev_handle_t device_handle, const uint8_t* write_data, size_t write_size, uint8_t* read_buffer, size_t
                        read_size, int32_t timeout_ms = -1) const;
    };
}