Added the zig_main project to software for zig based implementation of code for robot

software/zig_main/.devcontainer/Dockerfile

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+ARG DOCKER_TAG=latest
+FROM espressif/idf:${DOCKER_TAG}
+
+ARG DEBIAN_FRONTEND=nointeractive
+ARG CONTAINER_USER=esp
+ARG USER_UID=1050
+ARG USER_GID=$USER_UID
+
+RUN apt-get update \
+  && apt install -y -q \
+  cmake \
+  git \
+  libglib2.0-0 \
+  libnuma1 \
+  libpixman-1-0 \
+  && rm -rf /var/lib/apt/lists/*
+
+# QEMU
+ENV QEMU_REL=esp_develop_9.2.2_20250817
+ENV QEMU_SHA256=588bfaccd0f929650655d10a580f020c6ba9c131712d8fa519280081b8d126eb
+ENV QEMU_DIST=qemu-xtensa-softmmu-${QEMU_REL}-x86_64-linux-gnu.tar.xz
+ENV QEMU_URL=https://github.com/espressif/qemu/releases/download/esp-develop-9.2.2-20250817/${QEMU_DIST}
+
+# Zig v0.16.0 - xtensa
+ENV ZIG_REL=zig-relsafe-x86_64-linux-musl-baseline
+ENV ZIG_SHA256=411f1858a9610803af28cd271acf4548873545ccc866f4b9060903ff0d4b6e8e
+ENV ZIG_DIST=${ZIG_REL}.tar.xz
+ENV ZIG_URL=https://github.com/kassane/zig-espressif-bootstrap/releases/download/0.16.0-xtensa/${ZIG_DIST}
+
+# ZLS v0.16.0
+ENV ZLS_REL=zls-x86_64-linux-musl-baseline
+ENV ZLS_SHA256=993192ee0e212334df0cc5ae4fc5e5bdfded395054414a4a7b0202e4dd3c74dd
+ENV ZLS_DIST=${ZLS_REL}.tar.xz
+ENV ZLS_URL=https://github.com/kassane/zig-espressif-bootstrap/releases/download/0.16.0-xtensa-dev/${ZLS_DIST}
+
+ENV LC_ALL=C.UTF-8
+ENV LANG=C.UTF-8
+
+RUN wget --no-verbose ${QEMU_URL} \
+  && echo "${QEMU_SHA256} *${QEMU_DIST}" | sha256sum --check --strict - \
+  && tar -xf $QEMU_DIST -C /opt \
+  && rm ${QEMU_DIST}
+
+RUN wget --no-verbose ${ZIG_URL} \
+  && echo "${ZIG_SHA256} *${ZIG_DIST}" | sha256sum --check --strict - \
+  && tar -xf $ZIG_DIST -C /opt \
+  && rm ${ZIG_DIST}
+
+RUN wget --no-verbose ${ZLS_URL} \
+  && echo "${ZLS_SHA256} *${ZLS_DIST}" | sha256sum --check --strict - \
+  && mkdir -p /opt/zls \
+  && tar -xf $ZLS_DIST -C /opt/zls \
+  && rm ${ZLS_DIST}
+
+ENV PATH=/opt/qemu/bin:/opt/${ZIG_REL}:/opt/zls/bin:${PATH}
+
+RUN groupadd --gid $USER_GID $CONTAINER_USER \
+  && adduser --uid $USER_UID --gid $USER_GID --disabled-password --gecos "" ${CONTAINER_USER} \
+  && usermod -a -G root $CONTAINER_USER && usermod -a -G dialout $CONTAINER_USER
+
+RUN chmod -R 775 /opt/esp/python_env/
+
+USER ${CONTAINER_USER}
+ENV USER=${CONTAINER_USER}
+WORKDIR /home/${CONTAINER_USER}
+
+RUN echo "source /opt/esp/idf/export.sh > /dev/null 2>&1" >> ~/.bashrc
+
+ENTRYPOINT [ "/opt/esp/entrypoint.sh" ]
+
+CMD ["/bin/bash", "-c"]

software/zig_main/.devcontainer/devcontainer.json

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+{
+	"name": "ESP-IDF QEMU",
+	"build": {
+		"dockerfile": "Dockerfile",
+		"args": {
+			"DOCKER_TAG": "release-v6.0"
+		}
+	},
+	"mounts": [
+		// Unfortunately this mount only works for linux users:
+		"source=/dev/bus/usb,target=/dev/bus/usb,type=bind,consistency=cached"
+	],
+	"customizations": {
+		"vscode": {
+			"settings": {
+				"terminal.integrated.defaultProfile.linux": "bash",
+				"idf.espIdfPath": "/opt/esp/idf",
+				"idf.customExtraPaths": "",
+				"idf.pythonBinPath": "/opt/esp/python_env/idf6.0_py3.14_env/bin/python",
+				"idf.toolsPath": "/opt/esp",
+				"zig.zls.path": "/opt/zls/bin/zls",
+				"zig.path": "/opt/zig-relsafe-x86_64-linux-musl-baseline/zig",
+				"idf.gitPath": "/usr/bin/git"
+			},
+			"extensions": [
+				"espressif.esp-idf-extension",
+				"ziglang.vscode-zig"
+			]
+		},
+		"codespaces": {
+			"settings": {
+				"terminal.integrated.defaultProfile.linux": "bash",
+				"idf.espIdfPath": "/opt/esp/idf",
+				"idf.customExtraPaths": "",
+				"idf.pythonBinPath": "/opt/esp/python_env/idf6.0_py3.14_env/bin/python",
+				"idf.toolsPath": "/opt/esp",
+				"zig.zls.path": "/opt/zls/bin/zls",
+				"zig.path": "/opt/zig-relsafe-x86_64-linux-musl-baseline/zig",
+				"idf.gitPath": "/usr/bin/git"
+			},
+			"extensions": [
+				"espressif.esp-idf-extension",
+				"ziglang.vscode-zig",
+				"espressif.esp-idf-web"
+			]
+		}
+	},
+	"runArgs": [
+		"--privileged"
+	]
+}