feat(base_component): add new base component and improve I2C class + …

…example (#149)

* feat(base_component): add new base component
* Add base component which contains logger with some methods for setting logging level and tag for the logger
* Update i2c to subclass base component and add some extra methods for writing / reading with std::vector. Also added some logging to the i2c component
* Add i2c format helpers for logging the i2c bus which is initialized
* Add missing i2c destructor
* Update i2c example to test new i2c destructor
* Add i2c menu to i2c example for allowing interactive control / query of the i2c bus using cli component
* Update i2c and cli component to have s3 defualts file configuring the console output port to be usb serial/jtag

* added missing base component

* minor update to i2c menu to enable easier reuse

* minor update to deinit

* feat(i2c): change naming of new functions so that older std::bind based peripheral code still compiles

* doc: update

* doc: rebuild

* set logger verbosity to default level so that it doesnt have to be provided

* update to change BMI formatting

* update non-peripheral components to use new base_component class

* doc: rebuild

* fix(controller): fix typo from refactor to base component

* fix(base_component): make constructors with arguments explicit

* add explicit cast

* fix(rtsp): fix out of order BMI member use

* doc: rebuild

.clang-format

@@ -40,7 +40,7 @@ BreakBeforeBinaryOperators: None
 BreakBeforeBraces: Attach
 BreakBeforeInheritanceComma: false
 BreakBeforeTernaryOperators: true
-BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializersBeforeComma: true
 BreakConstructorInitializers: BeforeColon
 BreakAfterJavaFieldAnnotations: false
 BreakStringLiterals: true

components/adc/CMakeLists.txt

@@ -1,3 +1,3 @@
 idf_component_register(
   INCLUDE_DIRS "include"
-  REQUIRES logger task esp_adc)
+  REQUIRES base_component task esp_adc)

components/adc/include/continuous_adc.hpp

@@ -10,7 +10,7 @@
 #include "esp_adc/adc_continuous.h"
 
 #include "adc_types.hpp"
-#include "logger.hpp"
+#include "base_component.hpp"
 #include "task.hpp"
 
 namespace espp {
@@ -27,7 +27,7 @@ namespace espp {
  * \section adc_continuous_ex1 Continuous ADC Example
  * \snippet adc_example.cpp continuous adc example
  */
-class ContinuousAdc {
+class ContinuousAdc : public espp::BaseComponent {
 public:
   /**
    *  @brief Configure the sample rate (globally applied to each channel),
@@ -50,12 +50,14 @@ class ContinuousAdc {
    * @param config Config used to initialize the reader.
    */
   explicit ContinuousAdc(const Config &config)
-      : sample_rate_hz_(config.sample_rate_hz), window_size_bytes_(config.window_size_bytes),
-        num_channels_(config.channels.size()), conv_mode_(config.convert_mode),
-        result_data_(window_size_bytes_, 0xcc),
-        logger_({.tag = "Continuous Adc",
-                 .rate_limit = std::chrono::milliseconds(100),
-                 .level = config.log_level}) {
+      : BaseComponent("ContinuousAdc", config.log_level)
+      , sample_rate_hz_(config.sample_rate_hz)
+      , window_size_bytes_(config.window_size_bytes)
+      , num_channels_(config.channels.size())
+      , conv_mode_(config.convert_mode)
+      , result_data_(window_size_bytes_, 0xcc) {
+    // set the rate limit for the logger
+    logger_.set_rate_limit(std::chrono::milliseconds(100));
     // initialize the adc continuous subsystem
     init(config.channels);
     // and start the task
@@ -203,7 +205,7 @@ class ContinuousAdc {
 #if !CONFIG_IDF_TARGET_ESP32
       if (output_format_ == ADC_DIGI_OUTPUT_FORMAT_TYPE2) {
         if (check_valid_data(p)) {
-          auto unit = p->type2.unit;
+          auto unit = (adc_unit_t)p->type2.unit;
           auto channel = (adc_channel_t)p->type2.channel;
           auto data = p->type2.data;
           auto id = get_id(unit, channel);
@@ -398,7 +400,6 @@ class ContinuousAdc {
   adc_digi_convert_mode_t conv_mode_;
   adc_digi_output_format_t output_format_;
   std::vector<uint8_t> result_data_;
-  Logger logger_;
   std::unique_ptr<Task> task_;
   TaskHandle_t task_handle_{NULL};
   std::mutex data_mutex_;

components/adc/include/oneshot_adc.hpp

@@ -10,7 +10,7 @@
 #include "esp_adc/adc_oneshot.h"
 
 #include "adc_types.hpp"
-#include "logger.hpp"
+#include "base_component.hpp"
 
 namespace espp {
 /**
@@ -22,7 +22,7 @@ namespace espp {
  * \section adc_oneshot_ex1 Oneshot ADC Example
  * \snippet adc_example.cpp oneshot adc example
  */
-class OneshotAdc {
+class OneshotAdc : public BaseComponent {
 public:
   /**
    *  @brief Configure the unit for which to read adc values from the provided
@@ -44,7 +44,7 @@ class OneshotAdc {
    * @param config Config used to initialize the reader.
    */
   explicit OneshotAdc(const Config &config)
-      : logger_({.tag = "Oneshot Adc", .level = config.log_level}) {
+      : BaseComponent("OneShotAdc", config.log_level) {
     init(config);
   }
 
@@ -185,6 +185,5 @@ class OneshotAdc {
   adc_oneshot_unit_handle_t adc_handle_;
   adc_cali_handle_t adc_cali_handle_;
   std::atomic<bool> calibrated_{false};
-  Logger logger_;
 };
 } // namespace espp

components/base_component/CMakeLists.txt

@@ -0,0 +1,3 @@
+idf_component_register(
+  INCLUDE_DIRS "include"
+  REQUIRES logger)

components/base_component/include/base_component.hpp

@@ -0,0 +1,51 @@
+#pragma once
+
+#include <chrono>
+#include <string>
+
+#include "logger.hpp"
+
+namespace espp {
+/// Base class for all components
+/// Provides a logger and some basic logging configuration
+class BaseComponent {
+public:
+  /// Set the tag for the logger
+  /// \param tag The tag to use for the logger
+  void set_log_tag(const std::string_view &tag) { logger_.set_tag(tag); }
+
+  /// Set the log level for the logger
+  /// \param level The verbosity level to use for the logger
+  /// \sa Logger::Verbosity
+  /// \sa Logger::set_verbosity
+  void set_log_level(Logger::Verbosity level) { logger_.set_verbosity(level); }
+
+  /// Set the log verbosity for the logger
+  /// \param level The verbosity level to use for the logger
+  /// \note This is a convenience method that calls set_log_level
+  /// \sa set_log_level
+  /// \sa Logger::Verbosity
+  /// \sa Logger::set_verbosity
+  void set_log_verbosity(Logger::Verbosity level) { set_log_level(level); }
+
+  /// Set the rate limit for the logger
+  /// \param rate_limit The rate limit to use for the logger
+  /// \note Only calls to the logger that have _rate_limit suffix will be rate limited
+  /// \sa Logger::set_rate_limit
+  void set_log_rate_limit(std::chrono::duration<float> rate_limit) {
+    logger_.set_rate_limit(rate_limit);
+  }
+
+protected:
+  BaseComponent() = default;
+
+  explicit BaseComponent(std::string_view tag, Logger::Verbosity level = Logger::Verbosity::WARN)
+      : logger_({.tag = tag, .level = level}) {}
+
+  explicit BaseComponent(const Logger::Config &logger_config)
+      : logger_(logger_config) {}
+
+  /// The logger for this component
+  Logger logger_ = espp::Logger({.tag = "BaseComponent", .level = Logger::Verbosity::INFO});
+};
+} // namespace espp

components/bldc_driver/CMakeLists.txt

@@ -1,3 +1,3 @@
 idf_component_register(
   INCLUDE_DIRS "include"
-  REQUIRES logger driver)
+  REQUIRES base_component driver)

components/bldc_driver/include/bldc_driver.hpp

@@ -7,7 +7,7 @@
 #include "driver/gpio.h"
 #include "driver/mcpwm_prelude.h"
 
-#include "logger.hpp"
+#include "base_component.hpp"
 
 namespace espp {
 /**
@@ -16,7 +16,7 @@ namespace espp {
  *        https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/peripherals/mcpwm.html
  *        peripheral.
  */
-class BldcDriver {
+class BldcDriver : public BaseComponent {
 public:
   static constexpr size_t TIMER_RESOLUTION_HZ = 80 * 1000 * 1000; // 80 MHz
   static constexpr size_t FREQUENCY_HZ = 20 * 1000;               // 20 KHz
@@ -48,11 +48,16 @@ class BldcDriver {
    * @param config Config used to initialize the driver.
    */
   explicit BldcDriver(const Config &config)
-      : gpio_ah_((gpio_num_t)config.gpio_a_h), gpio_al_((gpio_num_t)config.gpio_a_l),
-        gpio_bh_((gpio_num_t)config.gpio_b_h), gpio_bl_((gpio_num_t)config.gpio_b_l),
-        gpio_ch_((gpio_num_t)config.gpio_c_h), gpio_cl_((gpio_num_t)config.gpio_c_l),
-        gpio_en_(config.gpio_enable), gpio_fault_(config.gpio_fault), dead_zone_(config.dead_zone),
-        logger_({.tag = "BLDC Driver", .level = config.log_level}) {
+      : BaseComponent("BldcDriver", config.log_level)
+      , gpio_ah_((gpio_num_t)config.gpio_a_h)
+      , gpio_al_((gpio_num_t)config.gpio_a_l)
+      , gpio_bh_((gpio_num_t)config.gpio_b_h)
+      , gpio_bl_((gpio_num_t)config.gpio_b_l)
+      , gpio_ch_((gpio_num_t)config.gpio_c_h)
+      , gpio_cl_((gpio_num_t)config.gpio_c_l)
+      , gpio_en_(config.gpio_enable)
+      , gpio_fault_(config.gpio_fault)
+      , dead_zone_(config.dead_zone) {
     configure_power(config.power_supply_voltage, config.limit_voltage);
     init(config);
   }
@@ -411,6 +416,5 @@ class BldcDriver {
   std::array<mcpwm_oper_handle_t, 3> operators_;
   std::array<mcpwm_cmpr_handle_t, 3> comparators_;
   std::array<mcpwm_gen_handle_t, 6> generators_;
-  Logger logger_;
 };
 } // namespace espp

components/bldc_haptics/CMakeLists.txt

@@ -1,4 +1,4 @@
 idf_component_register(
   INCLUDE_DIRS "include"
-  REQUIRES logger math pid task bldc_motor
+  REQUIRES base_component math pid task bldc_motor
   )

components/bldc_haptics/include/bldc_haptics.hpp

@@ -4,10 +4,10 @@
 #include <deque>
 #include <vector>
 
+#include "base_component.hpp"
 #include "bldc_motor.hpp"
 #include "detent_config.hpp"
 #include "haptic_config.hpp"
-#include "logger.hpp"
 #include "task.hpp"
 
 namespace espp {
@@ -93,7 +93,7 @@ concept MotorConcept = requires {
 /// \snippet bldc_haptics_example.cpp bldc_haptics_example_1
 /// \section bldc_haptics_ex2 Example 2: Playing a haptic click / buzz
 /// \snippet bldc_haptics_example.cpp bldc_haptics_example_2
-template <MotorConcept M> class BldcHaptics {
+template <MotorConcept M> class BldcHaptics : public BaseComponent {
 public:
   /// @brief Configuration for the haptic motor
   struct Config {
@@ -113,19 +113,19 @@ template <MotorConcept M> class BldcHaptics {
   /// @brief Constructor for the haptic motor
   /// @param config Configuration for the haptic motor
   explicit BldcHaptics(const Config &config)
-      : detent_pid_({.kp = 0,             // will be set later (motor_task)
+      : BaseComponent("BldcHaptics", config.log_level)
+      , detent_pid_({.kp = 0,             // will be set later (motor_task)
                      .ki = 0,             // not configurable for now
                      .kd = 0,             // will be set later (update_detent_config)
                      .integrator_min = 0, // not configurable for now
                      .integrator_max = 0, // not configurable for now
                      .output_min = -1,    // go ahead and set some bounds (operates on current)
                      .output_max = 1})    // go ahead and set some bounds (operates on current)
-        ,
-        kp_factor_(config.kp_factor), kd_factor_min_(config.kd_factor_min),
-        kd_factor_max_(config.kd_factor_max), motor_(config.motor),
-        logger_({.tag = "BldcHaptics",
-                 .rate_limit = std::chrono::milliseconds(100),
-                 .level = config.log_level}) {
+      , kp_factor_(config.kp_factor)
+      , kd_factor_min_(config.kd_factor_min)
+      , kd_factor_max_(config.kd_factor_max)
+      , motor_(config.motor) {
+    logger_.set_rate_limit(std::chrono::milliseconds(100));
     logger_.info("Initializing haptic motor\n"
                  "\tkp_factor: {}\n"
                  "\tkd_factor_min: {}\n"
@@ -432,7 +432,5 @@ template <MotorConcept M> class BldcHaptics {
   std::reference_wrapper<M> motor_; ///< Pointer to the motor to use for haptics
 
   std::unique_ptr<Task> motor_task_; ///< Task which runs the haptic motor
-
-  Logger logger_; ///< Logger for the haptics
 };
 } // namespace espp

components/bldc_motor/CMakeLists.txt

@@ -1,4 +1,4 @@
 idf_component_register(
   INCLUDE_DIRS "include"
-  REQUIRES logger math pid task
+  REQUIRES base_component math pid task
   )

components/bldc_motor/include/bldc_motor.hpp

@@ -2,8 +2,8 @@
 
 #include <atomic>
 
+#include "base_component.hpp"
 #include "fast_math.hpp"
-#include "logger.hpp"
 #include "pid.hpp"
 #include "task.hpp"
 
@@ -65,7 +65,7 @@ struct DummyCurrentSense {
  * @snippet bldc_motor_example.cpp bldc_motor example
  */
 template <DriverConcept D, SensorConcept S, CurrentSensorConcept CS = DummyCurrentSense>
-class BldcMotor {
+class BldcMotor : public BaseComponent {
 public:
   /**
    * @brief Filter the raw input sample and return it.
@@ -130,17 +130,27 @@ class BldcMotor {
    *        necessary sensor calibration.
    */
   explicit BldcMotor(const Config &config)
-      : num_pole_pairs_(config.num_pole_pairs), phase_resistance_(config.phase_resistance),
-        phase_inductance_(config.phase_inductance), kv_rating_(config.kv_rating * _SQRT2),
-        current_limit_(config.current_limit), velocity_limit_(config.velocity_limit),
-        sensor_direction_(config.sensor_direction), foc_type_(config.foc_type),
-        torque_control_type_(config.torque_controller), driver_(config.driver),
-        sensor_(config.sensor), current_sense_(config.current_sense),
-        pid_current_q_(config.current_pid_config), pid_current_d_(config.current_pid_config),
-        pid_velocity_(config.current_pid_config), pid_angle_(config.current_pid_config),
-        q_current_filter_(config.q_current_filter), d_current_filter_(config.d_current_filter),
-        velocity_filter_(config.velocity_filter), angle_filter_(config.angle_filter),
-        logger_({.tag = "BldcMotor", .level = config.log_level}) {
+      : BaseComponent("BldcMotor", config.log_level)
+      , num_pole_pairs_(config.num_pole_pairs)
+      , phase_resistance_(config.phase_resistance)
+      , phase_inductance_(config.phase_inductance)
+      , kv_rating_(config.kv_rating * _SQRT2)
+      , current_limit_(config.current_limit)
+      , velocity_limit_(config.velocity_limit)
+      , sensor_direction_(config.sensor_direction)
+      , foc_type_(config.foc_type)
+      , torque_control_type_(config.torque_controller)
+      , driver_(config.driver)
+      , sensor_(config.sensor)
+      , current_sense_(config.current_sense)
+      , pid_current_q_(config.current_pid_config)
+      , pid_current_d_(config.current_pid_config)
+      , pid_velocity_(config.current_pid_config)
+      , pid_angle_(config.current_pid_config)
+      , q_current_filter_(config.q_current_filter)
+      , d_current_filter_(config.d_current_filter)
+      , velocity_filter_(config.velocity_filter)
+      , angle_filter_(config.angle_filter) {
     // initialize the voltage limit
     voltage_limit_ = driver_->get_voltage_limit();
     voltage_sensor_align_ = voltage_limit_ / 4.0f;
@@ -948,7 +958,6 @@ class BldcMotor {
   filter_fn angle_filter_{nullptr};
   std::atomic<bool> enabled_{false};
   Status status_{Status::UNINITIALIZED};
-  Logger logger_;
 };
 
 } // namespace espp

components/button/CMakeLists.txt

@@ -1,3 +1,3 @@
 idf_component_register(
   INCLUDE_DIRS "include"
-  REQUIRES driver logger task)
+  REQUIRES driver base_component task)

components/button/include/button.hpp

@@ -8,7 +8,7 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/queue.h"
 
-#include "logger.hpp"
+#include "base_component.hpp"
 #include "task.hpp"
 
 namespace espp {
@@ -19,7 +19,7 @@ namespace espp {
 ///
 /// \section button_ex1 Button Example
 /// \snippet button_example.cpp button example
-class Button {
+class Button : public BaseComponent {
 public:
   /// \brief The event for the button
   struct Event {
@@ -65,9 +65,11 @@ class Button {
   /// \brief Construct a button
   /// \param config The configuration for the button
   explicit Button(const Config &config)
-      : gpio_num_(config.gpio_num), callback_(config.callback), active_level_(config.active_level),
-        event_queue_(xQueueCreate(10, sizeof(EventData))),
-        logger_({.tag = config.name, .level = config.log_level}) {
+      : BaseComponent(config.name, config.log_level)
+      , gpio_num_(config.gpio_num)
+      , callback_(config.callback)
+      , active_level_(config.active_level)
+      , event_queue_(xQueueCreate(10, sizeof(EventData))) {
     // configure the GPIO for an interrupt
     gpio_config_t io_conf;
     memset(&io_conf, 0, sizeof(io_conf));
@@ -178,6 +180,5 @@ class Button {
   HandlerArgs handler_args_;
   std::atomic<bool> pressed_{false};
   std::unique_ptr<espp::Task> task_;
-  espp::Logger logger_;
 };
 } // namespace espp

components/cli/example/sdkconfig.defaults.esp32s3

@@ -0,0 +1,3 @@
+# on the ESP32S3, which has native USB, we need to set the console so that the
+# CLI can be configured correctly:
+CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y