I2C improvements and fixes (#201)

- Show I2C device name in I2C Scanner app
- Register various I2C devices from board implementations
- Fix M5Stack Core2 power status
- Fix pre-allocation issue in `hal::Device`

TactilityHeadless/Include/Tactility/hal/Device.h

@@ -1,6 +1,8 @@
 #pragma once
 
+#include <functional>
 #include <memory>
+#include <ranges>
 #include <string>
 #include <vector>
 
@@ -47,7 +49,6 @@ public:
     virtual std::string getDescription() const = 0;
 };
 
-
 /**
  * Adds a device to the registry.
  * @warning This will leak memory if you want to destroy a device and don't call deregisterDevice()!
@@ -57,6 +58,12 @@ void registerDevice(const std::shared_ptr<Device>& device);
 /** Remove a device from the registry. */
 void deregisterDevice(const std::shared_ptr<Device>& device);
 
+/** Find a single device with a custom filter */
+std::shared_ptr<Device> _Nullable findDevice(const std::function<bool(const std::shared_ptr<Device>&)>& filterFunction);
+
+/** Find devices with a custom filter */
+std::vector<std::shared_ptr<Device>> findDevices(const std::function<bool(const std::shared_ptr<Device>&)>& filterFunction);
+
 /** Find a device in the registry by its name. */
 std::shared_ptr<Device> _Nullable findDevice(std::string name);
 
@@ -69,6 +76,25 @@ std::vector<std::shared_ptr<Device>> findDevices(Device::Type type);
 /** Get a copy of the entire device registry in its current state. */
 std::vector<std::shared_ptr<Device>> getDevices();
 
+/** Find devices of a certain type and cast them to the specified class */
+template<class DeviceType>
+std::vector<std::shared_ptr<DeviceType>> findDevices(Device::Type type) {
+    auto devices = findDevices(type);
+    if (devices.empty()) {
+        return {};
+    } else {
+        std::vector<std::shared_ptr<DeviceType>> result;
+        result.reserve(devices.size());
+        for (auto& device : devices) {
+            auto target_device = std::static_pointer_cast<DeviceType>(device);
+            assert(target_device != nullptr);
+            result.push_back(target_device);
+        }
+        return std::move(result);
+    }
+}
+
+/** Find the first device of the specified type and cast it to the specified class */
 template<class DeviceType>
 std::shared_ptr<DeviceType> findFirstDevice(Device::Type type) {
     auto devices = findDevices(type);

TactilityHeadless/Include/Tactility/hal/i2c/I2cDevice.h

@@ -20,8 +20,6 @@ protected:
 
     static constexpr TickType_t DEFAULT_TIMEOUT = 1000 / portTICK_PERIOD_MS;
 
-    Type getType() const override { return Type::I2c; }
-
     bool readRegister8(uint8_t reg, uint8_t& result) const;
     bool writeRegister8(uint8_t reg, uint8_t value) const;
     bool readRegister12(uint8_t reg, float& out) const;
@@ -35,6 +33,12 @@ protected:
 public:
 
     explicit I2cDevice(i2c_port_t port, uint32_t address) : port(port), address(address) {}
+
+    Type getType() const override { return Type::I2c; }
+
+    i2c_port_t getPort() const { return port; }
+
+    uint8_t getAddress() const { return address; }
 };
 
 }