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/extra-components.cmake
+++ b/software/zig_main/cmake/extra-components.cmake
@@ -0,0 +1,124 @@
+# ─── Optional/Managed Components Detection ───────────────────────────────────
+idf_build_get_property(BUILD_COMPS BUILD_COMPONENTS)
+
+# Get IDF_PATH from environment
+set(IDF_PATH $ENV{IDF_PATH})
+
+# Include version.cmake to get IDF_VERSION_MAJOR, IDF_VERSION_MINOR, etc.
+if(EXISTS "${IDF_PATH}/tools/cmake/version.cmake")
+    include("${IDF_PATH}/tools/cmake/version.cmake")
+else()
+    message(FATAL_ERROR "Failed to find version.cmake in ${IDF_PATH}/tools/cmake")
+endif()
+
+
+# Helper function to check and add component
+macro(check_managed_component COMPONENT_NAME VENDOR PACKAGE DEFINE_NAME)
+    set(COMP_PATHS "")
+    set(COMP_BASE "${CMAKE_SOURCE_DIR}/managed_components/${VENDOR}__${PACKAGE}")
+
+    if("${PACKAGE}" STREQUAL "esp-dsp")
+        list(APPEND COMP_PATHS
+            "${COMP_BASE}/modules/common/include"
+            "${COMP_BASE}/modules/dotprod/include"
+            "${COMP_BASE}/modules/support/include"
+            "${COMP_BASE}/modules/support/mem/include"
+            "${COMP_BASE}/modules/windows/include"
+            "${COMP_BASE}/modules/windows/hann/include"
+            "${COMP_BASE}/modules/windows/blackman/include"
+            "${COMP_BASE}/modules/windows/blackman_harris/include"
+            "${COMP_BASE}/modules/windows/blackman_nuttall/include"
+            "${COMP_BASE}/modules/windows/nuttall/include"
+            "${COMP_BASE}/modules/windows/flat_top/include"
+            "${COMP_BASE}/modules/iir/include"
+            "${COMP_BASE}/modules/fir/include"
+            "${COMP_BASE}/modules/math/include"
+            "${COMP_BASE}/modules/math/add/include"
+            "${COMP_BASE}/modules/math/sub/include"
+            "${COMP_BASE}/modules/math/mul/include"
+            "${COMP_BASE}/modules/math/addc/include"
+            "${COMP_BASE}/modules/math/mulc/include"
+            "${COMP_BASE}/modules/math/sqrt/include"
+            "${COMP_BASE}/modules/matrix/include"
+            "${COMP_BASE}/modules/matrix/mul/include"
+            "${COMP_BASE}/modules/matrix/add/include"
+            "${COMP_BASE}/modules/matrix/addc/include"
+            "${COMP_BASE}/modules/matrix/mulc/include"
+            "${COMP_BASE}/modules/matrix/sub/include"
+            "${COMP_BASE}/modules/fft/include"
+            "${COMP_BASE}/modules/dct/include"
+            "${COMP_BASE}/modules/conv/include"
+            "${COMP_BASE}/modules/kalman/ekf/include"
+            "${COMP_BASE}/modules/kalman/ekf_imu13states/include"
+        )
+    elseif("${PACKAGE}" STREQUAL "esp_wifi_remote")
+        # Add base include if exists
+        set(BASE_INCLUDE "${COMP_BASE}/include")
+        if(EXISTS "${BASE_INCLUDE}")
+            list(APPEND COMP_PATHS "${BASE_INCLUDE}")
+        endif()
+
+        # Add version-specific include using MAJOR.MINOR
+        set(VERSION_SUBDIR "idf_v${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}")
+        set(VERSION_PATH "${COMP_BASE}/${VERSION_SUBDIR}/include")
+        if(EXISTS "${VERSION_PATH}")
+            list(APPEND COMP_PATHS "${VERSION_PATH}")
+        endif()
+    elseif("${PACKAGE}" STREQUAL "esp_hosted")
+        # Add host and api include paths for esp_hosted
+        set(HOST_PATH "${COMP_BASE}/host")
+        if(EXISTS "${HOST_PATH}")
+            list(APPEND COMP_PATHS "${HOST_PATH}")
+        endif()
+        set(API_PATH "${HOST_PATH}/api/include")
+        if(EXISTS "${API_PATH}")
+            list(APPEND COMP_PATHS "${API_PATH}")
+        endif()
+    elseif("${PACKAGE}" STREQUAL "esp_matter")
+        # esp_matter is a C++ (CHIP SDK) library.
+        # matter_stubs.h provides the C interface for translate-c instead.
+        list(APPEND COMP_PATHS "${COMP_BASE}/components/esp_matter")
+    else()
+        list(APPEND COMP_PATHS "${COMP_BASE}/include")
+    endif()
+
+    # Check if component is in build
+    if("${VENDOR}__${PACKAGE}" IN_LIST BUILD_COMPS OR "${PACKAGE}" IN_LIST BUILD_COMPS)
+        # Verify at least one path exists (check the base directory)
+        if(EXISTS "${COMP_BASE}")
+            message(STATUS "${COMPONENT_NAME} component found")
+            set(${DEFINE_NAME} 1)
+
+            # Add all include paths that actually exist
+            set(VALID_PATHS 0)
+            foreach(COMP_PATH IN LISTS COMP_PATHS)
+                if(EXISTS "${COMP_PATH}")
+                    list(APPEND INCLUDE_DIRS "${COMP_PATH}")
+                    math(EXPR VALID_PATHS "${VALID_PATHS} + 1")
+                endif()
+            endforeach()
+
+            if(VALID_PATHS GREATER 0)
+                message(STATUS "  Added ${VALID_PATHS} include paths for ${COMPONENT_NAME}")
+            else()
+                message(WARNING "${COMPONENT_NAME} base exists but no include paths found")
+                set(${DEFINE_NAME} 0)
+            endif()
+        else()
+            message(WARNING "${COMPONENT_NAME} in components but not found: ${COMP_BASE}")
+            set(${DEFINE_NAME} 0)
+        endif()
+    else()
+        message(STATUS "${COMPONENT_NAME} not in build. To add: idf.py add-dependency ${VENDOR}/${PACKAGE}")
+        set(${DEFINE_NAME} 0)
+    endif()
+
+    list(APPEND EXTRA_DEFINE_FLAGS "-D${DEFINE_NAME}=${${DEFINE_NAME}}")
+endmacro()
+
+# Add your components here
+check_managed_component("LED Strip" "espressif" "led_strip" "HAS_LED_STRIP")
+check_managed_component("ESP-DSP" "espressif" "esp-dsp" "HAS_ESP_DSP")
+check_managed_component("ESP Wifi Remote" "espressif" "esp_wifi_remote" "HAS_ESP_WIFI_REMOTE")
+check_managed_component("ESP Hosted" "espressif" "esp_hosted" "HAS_ESP_HOSTED")
+check_managed_component("ESP Matter" "espressif" "esp_matter" "HAS_ESP_MATTER")