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

software/zig_main/imports/error.zig

@@ -0,0 +1,58 @@
+const sys = @import("sys");
+const std = @import("std");
+
+// Zig error
+const esp_error = error{
+    Fail,
+    ErrorNoMem,
+    ErrorInvalidArg,
+    ErrorInvalidState,
+    ErrorInvalidSize,
+    ErrorNotFound,
+    ErrorNotSupported,
+    ErrorTimeout,
+    ErrorInvalidResponse,
+    ErrorInvalidCRC,
+    ErrorInvalidVersion,
+    ErrorInvalidMAC,
+    ErrorNotFinished,
+    ErrorNotAllowed,
+    ErrorWiFiBase,
+    ErrorMeshBase,
+    ErrorFlashBase,
+    ErrorHWCryptoBase,
+    ErrorMemProtectBase,
+};
+
+// C to Zig error
+pub fn espError(err: sys.esp_err_t) esp_error!sys.esp_err_t {
+    return switch (@as(sys.esp_err_t, err)) {
+        @as(sys.esp_err_t, sys.ESP_FAIL) => esp_error.Fail,
+        @as(sys.esp_err_t, sys.ESP_ERR_NO_MEM) => esp_error.ErrorNoMem,
+        @as(sys.esp_err_t, sys.ESP_ERR_INVALID_ARG) => esp_error.ErrorInvalidArg,
+        @as(sys.esp_err_t, sys.ESP_ERR_INVALID_STATE) => esp_error.ErrorInvalidState,
+        @as(sys.esp_err_t, sys.ESP_ERR_INVALID_SIZE) => esp_error.ErrorInvalidSize,
+        @as(sys.esp_err_t, sys.ESP_ERR_NOT_FOUND) => esp_error.ErrorNotFound,
+        @as(sys.esp_err_t, sys.ESP_ERR_NOT_SUPPORTED) => esp_error.ErrorNotSupported,
+        @as(sys.esp_err_t, sys.ESP_ERR_TIMEOUT) => esp_error.ErrorTimeout,
+        @as(sys.esp_err_t, sys.ESP_ERR_INVALID_RESPONSE) => esp_error.ErrorInvalidResponse,
+        @as(sys.esp_err_t, sys.ESP_ERR_INVALID_CRC) => esp_error.ErrorInvalidCRC,
+        @as(sys.esp_err_t, sys.ESP_ERR_INVALID_VERSION) => esp_error.ErrorInvalidVersion,
+        @as(sys.esp_err_t, sys.ESP_ERR_INVALID_MAC) => esp_error.ErrorInvalidMAC,
+        @as(sys.esp_err_t, sys.ESP_ERR_NOT_FINISHED) => esp_error.ErrorNotFinished,
+        @as(sys.esp_err_t, sys.ESP_ERR_NOT_ALLOWED) => esp_error.ErrorNotAllowed,
+        @as(sys.esp_err_t, sys.ESP_ERR_WIFI_BASE) => esp_error.ErrorWiFiBase,
+        @as(sys.esp_err_t, sys.ESP_ERR_MESH_BASE) => esp_error.ErrorMeshBase,
+        @as(sys.esp_err_t, sys.ESP_ERR_FLASH_BASE) => esp_error.ErrorFlashBase,
+        @as(sys.esp_err_t, sys.ESP_ERR_HW_CRYPTO_BASE) => esp_error.ErrorHWCryptoBase,
+        @as(sys.esp_err_t, sys.ESP_ERR_MEMPROT_BASE) => esp_error.ErrorMemProtectBase,
+        else => err, // Return the original `sys.esp_err_t` if it's not mapped
+    };
+}
+
+pub fn espCheckError(errc: sys.esp_err_t) esp_error!void {
+    if (errc == @as(sys.esp_err_t, sys.ESP_OK)) return;
+    // Try to surface a specific error variant; unknown non-zero codes become Fail.
+    _ = try espError(errc);
+    return error.Fail;
+}