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

software/zig_main/imports/event.zig

@@ -0,0 +1,202 @@
+const sys = @import("sys");
+const errors = @import("error");
+
+// ---------------------------------------------------------------------------
+// Type aliases
+// ---------------------------------------------------------------------------
+
+pub const Base = sys.esp_event_base_t;
+pub const LoopHandle = sys.esp_event_loop_handle_t;
+pub const HandlerT = sys.esp_event_handler_t;
+pub const HandlerInstance = sys.esp_event_handler_instance_t;
+pub const LoopArgs = sys.esp_event_loop_args_t;
+
+/// Match any event base when registering handlers.
+pub const ANY_BASE: Base = sys.ESP_EVENT_ANY_BASE;
+/// Match any event ID when registering handlers.
+pub const ANY_ID: i32 = sys.ESP_EVENT_ANY_ID;
+
+// ---------------------------------------------------------------------------
+// Default event loop
+// ---------------------------------------------------------------------------
+
+/// Create the default event loop. Must be called once before posting events
+/// or registering handlers on the default loop.
+pub fn loopCreateDefault() !void {
+    try errors.espCheckError(sys.esp_event_loop_create_default());
+}
+
+/// Delete the default event loop.
+pub fn loopDeleteDefault() !void {
+    try errors.espCheckError(sys.esp_event_loop_delete_default());
+}
+
+// ---------------------------------------------------------------------------
+// Custom event loop
+// ---------------------------------------------------------------------------
+
+/// Create a custom event loop with the given configuration.
+pub fn loopCreate(args: *const LoopArgs) !LoopHandle {
+    var loop: LoopHandle = null;
+    try errors.espCheckError(sys.esp_event_loop_create(args, &loop));
+    return loop;
+}
+
+/// Delete a custom event loop.
+pub fn loopDelete(loop: LoopHandle) !void {
+    try errors.espCheckError(sys.esp_event_loop_delete(loop));
+}
+
+/// Run a custom event loop for up to `ticks_to_run` ticks.
+pub fn loopRun(loop: LoopHandle, ticks_to_run: sys.TickType_t) !void {
+    try errors.espCheckError(sys.esp_event_loop_run(loop, ticks_to_run));
+}
+
+// ---------------------------------------------------------------------------
+// Handler registration — default loop
+// ---------------------------------------------------------------------------
+
+/// Register an event handler on the default event loop.
+///
+/// Pass `ANY_BASE` / `ANY_ID` as wildcards.
+pub fn handlerRegister(
+    event_base: Base,
+    event_id: i32,
+    handler: HandlerT,
+    arg: ?*anyopaque,
+) !void {
+    try errors.espCheckError(sys.esp_event_handler_register(event_base, event_id, handler, arg));
+}
+
+/// Unregister a previously registered handler from the default loop.
+pub fn handlerUnregister(
+    event_base: Base,
+    event_id: i32,
+    handler: HandlerT,
+) !void {
+    try errors.espCheckError(sys.esp_event_handler_unregister(event_base, event_id, handler));
+}
+
+/// Register an instance-based handler on the default loop.
+/// Returns an `HandlerInstance` token usable with `handlerInstanceUnregister`.
+pub fn handlerInstanceRegister(
+    event_base: Base,
+    event_id: i32,
+    handler: HandlerT,
+    arg: ?*anyopaque,
+) !HandlerInstance {
+    var instance: HandlerInstance = null;
+    try errors.espCheckError(sys.esp_event_handler_instance_register(event_base, event_id, handler, arg, &instance));
+    return instance;
+}
+
+/// Unregister an instance-based handler from the default loop.
+pub fn handlerInstanceUnregister(
+    event_base: Base,
+    event_id: i32,
+    instance: HandlerInstance,
+) !void {
+    try errors.espCheckError(sys.esp_event_handler_instance_unregister(event_base, event_id, instance));
+}
+
+// ---------------------------------------------------------------------------
+// Handler registration — custom loop
+// ---------------------------------------------------------------------------
+
+/// Register a handler on a custom event loop.
+pub fn handlerRegisterWith(
+    loop: LoopHandle,
+    event_base: Base,
+    event_id: i32,
+    handler: HandlerT,
+    arg: ?*anyopaque,
+) !void {
+    try errors.espCheckError(sys.esp_event_handler_register_with(loop, event_base, event_id, handler, arg));
+}
+
+/// Unregister a handler from a custom event loop.
+pub fn handlerUnregisterWith(
+    loop: LoopHandle,
+    event_base: Base,
+    event_id: i32,
+    handler: HandlerT,
+) !void {
+    try errors.espCheckError(sys.esp_event_handler_unregister_with(loop, event_base, event_id, handler));
+}
+
+/// Register an instance-based handler on a custom event loop.
+pub fn handlerInstanceRegisterWith(
+    loop: LoopHandle,
+    event_base: Base,
+    event_id: i32,
+    handler: HandlerT,
+    arg: ?*anyopaque,
+) !HandlerInstance {
+    var instance: HandlerInstance = null;
+    try errors.espCheckError(sys.esp_event_handler_instance_register_with(loop, event_base, event_id, handler, arg, &instance));
+    return instance;
+}
+
+/// Unregister an instance-based handler from a custom event loop.
+pub fn handlerInstanceUnregisterWith(
+    loop: LoopHandle,
+    event_base: Base,
+    event_id: i32,
+    instance: HandlerInstance,
+) !void {
+    try errors.espCheckError(sys.esp_event_handler_instance_unregister_with(loop, event_base, event_id, instance));
+}
+
+// ---------------------------------------------------------------------------
+// Event posting
+// ---------------------------------------------------------------------------
+
+/// Post an event to the default event loop.
+///
+/// `event_data` may be null when `event_data_size` is 0.
+/// `ticks_to_wait` is how long to block if the queue is full.
+pub fn post(
+    event_base: Base,
+    event_id: i32,
+    event_data: ?*const anyopaque,
+    event_data_size: usize,
+    ticks_to_wait: sys.TickType_t,
+) !void {
+    try errors.espCheckError(sys.esp_event_post(event_base, event_id, event_data, event_data_size, ticks_to_wait));
+}
+
+/// Post an event to a custom event loop.
+pub fn postTo(
+    loop: LoopHandle,
+    event_base: Base,
+    event_id: i32,
+    event_data: ?*const anyopaque,
+    event_data_size: usize,
+    ticks_to_wait: sys.TickType_t,
+) !void {
+    try errors.espCheckError(sys.esp_event_post_to(loop, event_base, event_id, event_data, event_data_size, ticks_to_wait));
+}
+
+/// Post an event from an ISR to the default event loop.
+/// Sets `*task_unblocked` to true if a higher-priority task was unblocked.
+pub fn isrPost(
+    event_base: Base,
+    event_id: i32,
+    event_data: ?*const anyopaque,
+    event_data_size: usize,
+    task_unblocked: *sys.BaseType_t,
+) !void {
+    try errors.espCheckError(sys.esp_event_isr_post(event_base, event_id, event_data, event_data_size, task_unblocked));
+}
+
+/// Post an event from an ISR to a custom event loop.
+pub fn isrPostTo(
+    loop: LoopHandle,
+    event_base: Base,
+    event_id: i32,
+    event_data: ?*const anyopaque,
+    event_data_size: usize,
+    task_unblocked: *sys.BaseType_t,
+) !void {
+    try errors.espCheckError(sys.esp_event_isr_post_to(loop, event_base, event_id, event_data, event_data_size, task_unblocked));
+}