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

2026-05-05 20:14:04 +12:00
parent 7d752f2534
commit f21f909a71
83 changed files with 13631 additions and 0 deletions
--- a/software/zig_main/cmake/bindgen-standalone.cmake
+++ b/software/zig_main/cmake/bindgen-standalone.cmake
@@ -0,0 +1,158 @@
+# ──────────────────────────────────────────────────────────────────────────────
+# Download translate_c-standalone
+# ──────────────────────────────────────────────────────────────────────────────
+
+# Determine platform triple for translate_c-standalone naming
+if(ZIG_PLATFORM STREQUAL "linux-musl")
+    if(ZIG_ARCH STREQUAL "aarch64")
+        set(TRANSLATE_C_TRIPLE "aarch64-linux-musl")
+        set(HASH_SUM "7d5968a41a02064d90035db95ef102fc2ab5e71a2eb48ba6cf028eb79b4ae43d")
+    elseif(ZIG_ARCH STREQUAL "x86_64")
+        set(TRANSLATE_C_TRIPLE "x86_64-linux-musl")
+        set(HASH_SUM "d098e2675fc6706914b6e53dd72f6536895420460f287e73e19772c979fabb84")
+    else()
+        message(FATAL_ERROR "Unsupported architecture for translate_c-standalone: ${ZIG_ARCH}")
+    endif()
+    set(ARCHIVE_EXT "tar.xz")
+elseif(ZIG_PLATFORM STREQUAL "windows")
+    if(ZIG_ARCH STREQUAL "x86_64")
+        set(TRANSLATE_C_TRIPLE "x86_64-windows-gnu")
+        set(HASH_SUM "8e53a03ee44983eea2786c2ba028e83a816b9a993a768b3f4ca8c6e3525923e2")
+    else()
+        message(FATAL_ERROR "Unsupported architecture for translate_c-standalone: ${ZIG_ARCH}")
+    endif()
+    set(ARCHIVE_EXT "zip")
+elseif(ZIG_PLATFORM STREQUAL "macos")
+    if(ZIG_ARCH STREQUAL "aarch64")
+        set(TRANSLATE_C_TRIPLE "aarch64-macos")
+        set(HASH_SUM "8b3d2360d09add35f764ac138e0ec497503dc3de788a01e93fd7b9923a44369c")
+    else()
+        message(FATAL_ERROR "Unsupported architecture for translate_c-standalone: ${ZIG_ARCH}")
+    endif()
+    set(ARCHIVE_EXT "tar.xz")
+else()
+    message(FATAL_ERROR "Unsupported platform for translate_c-standalone: ${ZIG_PLATFORM}")
+endif()
+
+set(TRANSLATE_C_DIR "${CMAKE_BINARY_DIR}/translate_c-standalone")
+set(TRANSLATE_C_ARCHIVE "${CMAKE_BINARY_DIR}/translate_c-standalone-${TRANSLATE_C_TRIPLE}-baseline.${ARCHIVE_EXT}")
+set(TRANSLATE_C_BIN "${TRANSLATE_C_DIR}/bin")
+
+# Download if not already extracted
+if(NOT EXISTS "${TRANSLATE_C_BIN}")
+    set(TRANSLATE_C_URL "https://github.com/kassane/zig-espressif-bootstrap/releases/download/0.16.0-xtensa-dev/translate_c-standalone-${TRANSLATE_C_TRIPLE}-baseline.${ARCHIVE_EXT}")
+
+    message(STATUS "Downloading translate_c-standalone (${TRANSLATE_C_TRIPLE}):")
+    message(STATUS "  => ${TRANSLATE_C_ARCHIVE}")
+
+    file(DOWNLOAD "${TRANSLATE_C_URL}" "${TRANSLATE_C_ARCHIVE}"
+        TLS_VERIFY ON
+        EXPECTED_HASH SHA256=${HASH_SUM}
+        STATUS download_status
+        LOG download_log
+    )
+
+    list(GET download_status 0 dl_code)
+    if(NOT dl_code EQUAL 0)
+        message(FATAL_ERROR "Download failed:\n${download_log}")
+    endif()
+
+    message(STATUS "Extracting ${ARCHIVE_EXT} ...")
+    file(MAKE_DIRECTORY "${TRANSLATE_C_DIR}")
+
+    if(HOST_OS_LOWER MATCHES "windows|win")
+        execute_process(
+            COMMAND powershell -NoProfile -ExecutionPolicy Bypass
+            -Command "Expand-Archive -Path '${TRANSLATE_C_ARCHIVE}' -DestinationPath '${TRANSLATE_C_DIR}' -Force"
+            RESULT_VARIABLE extract_result
+        )
+    else()
+        execute_process(
+            COMMAND ${CMAKE_COMMAND} -E tar xf "${TRANSLATE_C_ARCHIVE}"
+            WORKING_DIRECTORY "${TRANSLATE_C_DIR}"
+            RESULT_VARIABLE extract_result
+        )
+    endif()
+
+    if(NOT extract_result EQUAL 0)
+        message(FATAL_ERROR "Extraction failed (code ${extract_result})")
+    endif()
+
+    file(REMOVE "${TRANSLATE_C_ARCHIVE}")
+
+    # Make executable on Unix
+    if(NOT HOST_OS_LOWER MATCHES "windows|win")
+        execute_process(
+            COMMAND chmod +x "${TRANSLATE_C_BIN}"
+            RESULT_VARIABLE chmod_result
+        )
+        if(NOT chmod_result EQUAL 0)
+            message(WARNING "Failed to set executable bit on translate_c-standalone")
+        endif()
+    endif()
+
+    message(STATUS "translate_c-standalone ready at: ${TRANSLATE_C_BIN}")
+else()
+    message(STATUS "Using cached translate_c-standalone: ${TRANSLATE_C_BIN}")
+endif()
+set(BINDGEN "${TRANSLATE_C_BIN}/translate-c")
+
+# ──────────────────────────────────────────────────────────────────────────────
+# Helper to invoke translate-c (mirrors zig_run from zig-runner.cmake)
+# ──────────────────────────────────────────────────────────────────────────────
+function(bindgen_run)
+    cmake_parse_arguments(PARSE_ARGV 0 ARG
+        "VERBATIM;ALLOW_FAIL"
+        "WORKING_DIRECTORY;RESULT_VARIABLE;OUTPUT_VARIABLE;ERROR_VARIABLE;OUTPUT_FILE;TIMEOUT"
+        "COMMAND"
+    )
+    if(NOT ARG_COMMAND)
+        message(FATAL_ERROR "bindgen_run: COMMAND list is required")
+    endif()
+    if(NOT DEFINED ARG_WORKING_DIRECTORY)
+        set(ARG_WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}")
+    endif()
+    if(NOT DEFINED ARG_TIMEOUT)
+        set(ARG_TIMEOUT 300)
+    endif()
+    set(extra_args)
+    if(ARG_VERBATIM)
+        list(APPEND extra_args VERBATIM)
+    endif()
+    if(ARG_OUTPUT_FILE)
+        list(APPEND extra_args OUTPUT_FILE "${ARG_OUTPUT_FILE}")
+    endif()
+    execute_process(
+        COMMAND "${BINDGEN}" ${ARG_COMMAND}
+        WORKING_DIRECTORY "${ARG_WORKING_DIRECTORY}"
+        RESULT_VARIABLE result
+        OUTPUT_VARIABLE output
+        ERROR_VARIABLE error
+        TIMEOUT ${ARG_TIMEOUT}
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        ERROR_STRIP_TRAILING_WHITESPACE
+        ${extra_args}
+    )
+    if(DEFINED ARG_RESULT_VARIABLE)
+        set(${ARG_RESULT_VARIABLE} "${result}" PARENT_SCOPE)
+    endif()
+    if(DEFINED ARG_OUTPUT_VARIABLE)
+        set(${ARG_OUTPUT_VARIABLE} "${output}" PARENT_SCOPE)
+    endif()
+    if(DEFINED ARG_ERROR_VARIABLE)
+        set(${ARG_ERROR_VARIABLE} "${error}" PARENT_SCOPE)
+    endif()
+    if(NOT ARG_ALLOW_FAIL)
+        if(result MATCHES "timeout")
+            message(FATAL_ERROR
+                "translate-c timed out after ${ARG_TIMEOUT}s — Aro deadlock on stub headers (issue #61)\n"
+                "  Command: ${BINDGEN} ${ARG_COMMAND}\n"
+                "--- stderr ---\n${error}")
+        elseif(NOT result EQUAL 0)
+            message(FATAL_ERROR
+                "translate-c failed (code ${result}):\n"
+                "  ${BINDGEN} ${ARG_COMMAND}\n"
+                "--- stderr ---\n${error}")
+        endif()
+    endif()
+endfunction()