Adds simple display, uss and imu service

esp32/lib/ESP32-sveltekit/DisplayService.h

@@ -0,0 +1,47 @@
+#pragma once
+
+#include <Adafruit_GFX.h>
+#include <Adafruit_SSD1306.h>
+#include <Wire.h>
+#include <mutex>
+
+#define SCREEN_WIDTH 128
+#define SCREEN_HEIGHT 64
+
+class DisplayService
+{
+public:
+    DisplayService() : display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1) {};
+
+    bool begin()
+    {
+        std::lock_guard<std::mutex> guard(displayMutex);
+        if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
+            return false;
+        }
+        display.clearDisplay();
+        return true;
+    };
+
+    void clear() {
+        std::lock_guard<std::mutex> guard(displayMutex);
+        display.clearDisplay();
+    }
+
+    void drawPixel(int16_t x, int16_t y, uint16_t color) {
+        std::lock_guard<std::mutex> guard(displayMutex);
+        display.drawPixel(x, y, color);
+    }
+
+    void displayMessage(const String &message, int x, int y) {
+        std::lock_guard<std::mutex> lock(displayMutex);
+        display.setCursor(x, y);
+        display.clearDisplay();
+        display.println(message);
+        display.display();
+    }
+
+private:
+    Adafruit_SSD1306 display;
+    std::mutex displayMutex;
+};

esp32/lib/ESP32-sveltekit/ESP32SvelteKit.h

@@ -37,6 +37,7 @@
 #include <RestartService.h>
 #include <SecuritySettingsService.h>
 #include <SleepService.h>
+#include <Wire.h>
 #include <SystemStatus.h>
 #include <WiFiScanner.h>
 #include <WiFiSettingsService.h>

esp32/lib/ESP32-sveltekit/IMUService.h

@@ -0,0 +1,55 @@
+#pragma once
+
+#include <MPU6050_light.h>
+
+#define IMU_INTERVAL 2000
+
+class IMUService
+{
+public:
+    IMUService():_imu(Wire){};
+
+    void begin()
+    {
+        byte status = _imu.begin();
+        if(status != 0) {
+            ESP_LOGE("IMUService", "MPU initialize failed");
+            vTaskDelete(NULL);
+            return;
+        }
+        xTaskCreatePinnedToCore(this->_loopImpl, "IMU Service", 4096, this, tskIDLE_PRIORITY, NULL, ESP32SVELTEKIT_RUNNING_CORE);
+    };
+
+    float getTemp() {
+        return _imu.getTemp();
+    }
+
+    float getAngleX() {
+        return _imu.getAngleX();
+    }
+
+    float getAngleY() {
+        return _imu.getAngleX();
+    }
+
+    float getAngleZ() {
+        return _imu.getAngleZ();
+    }
+
+protected:
+    static void _loopImpl(void *_this) { static_cast<IMUService *>(_this)->_loop(); }
+    void _loop()
+    {
+        vTaskDelay(100);
+        _imu.calcOffsets(true,true);
+        TickType_t xLastWakeTime = xTaskGetTickCount();
+        while (1)
+        {
+            _imu.update();
+            vTaskDelayUntil(&xLastWakeTime, IMU_INTERVAL / portTICK_PERIOD_MS);
+        }
+    };
+
+private:
+    MPU6050 _imu;
+};

esp32/lib/ESP32-sveltekit/USSService.h

@@ -0,0 +1,56 @@
+#pragma once
+
+#include <NewPing.h>
+#include <mutex>
+#include <vector>
+
+#define USS_INTERVAL 500
+
+#define MAX_DISTANCE 200
+
+#define LEFT_TRIG 12
+#define RIGHT_TRIG 13
+
+class USSService
+{
+public:
+    USSService(const std::vector<uint8_t>& triggerPins, unsigned int maxDistance = MAX_DISTANCE)
+    : distances(triggerPins.size(), 0) {
+        for (size_t i = 0; i < triggerPins.size(); i++) {
+            sensors.emplace_back(triggerPins[i], triggerPins[i], maxDistance);
+        }
+    };
+
+    void begin()
+    {
+        xTaskCreatePinnedToCore(this->_loopImpl, "USS Service", 4096, this, tskIDLE_PRIORITY, NULL, ESP32SVELTEKIT_RUNNING_CORE);
+    };
+
+    unsigned int getDistance(size_t index) {
+        if (index >= distances.size()) return 0;
+        std::lock_guard<std::mutex> lock(mutex_);
+        return distances[index];
+    }
+
+protected:
+    static void _loopImpl(void *_this) { static_cast<USSService *>(_this)->_loop(); }
+    void _loop()
+    {
+        const TickType_t xFrequency = pdMS_TO_TICKS(USS_INTERVAL);
+        TickType_t xLastWakeTime = xTaskGetTickCount();
+        while (1)
+        {
+            for (size_t i = 0; i < sensors.size(); i++) {
+                std::lock_guard<std::mutex> lock(mutex_);
+                distances[i] = sensors[i].ping_cm();
+                vTaskDelay(50);
+            }
+            vTaskDelayUntil(&xLastWakeTime, xFrequency);
+        }
+    };
+
+private:
+    std::vector<NewPing> sensors;
+    std::vector<unsigned int> distances;
+    std::mutex mutex_;
+};