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

software/zig_main/imports/hosted.zig

@@ -0,0 +1,191 @@
+const sys = @import("sys");
+const errors = @import("error");
+
+pub const MAC_LEN = 6;
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Re-exported / renamed types from sys
+// ─────────────────────────────────────────────────────────────────────────────
+
+pub const EspMacType = sys.esp_mac_type_t;
+pub const EspResetReason = sys.esp_reset_reason_t;
+pub const EspEventBase = sys.esp_event_base_t;
+pub const EspHostedAppDesc = sys.esp_hosted_app_desc_t;
+pub const EspHostedMemInfo = sys.esp_hosted_mem_info_t;
+pub const EspHostedCapInfo = sys.esp_hosted_cap_info_t;
+pub const EspHostedCurrMemInfo = sys.esp_hosted_curr_mem_info_t;
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Constants & enums
+// ─────────────────────────────────────────────────────────────────────────────
+
+pub const EVENT_BASE = sys.ESP_HOSTED_EVENT;
+
+pub const EventId = enum(c_int) {
+    cp_init = sys.ESP_HOSTED_EVENT_CP_INIT,
+    cp_heartbeat = sys.ESP_HOSTED_EVENT_CP_HEARTBEAT,
+    transport_failure = sys.ESP_HOSTED_EVENT_TRANSPORT_FAILURE,
+    transport_up = sys.ESP_HOSTED_EVENT_TRANSPORT_UP,
+    transport_down = sys.ESP_HOSTED_EVENT_TRANSPORT_DOWN,
+    mem_monitor = sys.ESP_HOSTED_EVENT_MEM_MONITOR,
+    _,
+};
+
+pub const SlaveOtaStatus = enum(c_int) {
+    activated = sys.ESP_HOSTED_SLAVE_OTA_ACTIVATED,
+    completed = sys.ESP_HOSTED_SLAVE_OTA_COMPLETED,
+    not_required = sys.ESP_HOSTED_SLAVE_OTA_NOT_REQUIRED,
+    not_started = sys.ESP_HOSTED_SLAVE_OTA_NOT_STARTED,
+    in_progress = sys.ESP_HOSTED_SLAVE_OTA_IN_PROGRESS,
+    failed = sys.ESP_HOSTED_SLAVE_OTA_FAILED,
+    _,
+};
+
+pub const MemMonitorConfig = enum(c_uint) {
+    no_change = sys.ESP_HOSTED_MEMMONITOR_NO_CHANGE,
+    disable = sys.ESP_HOSTED_MEMMONITOR_DISABLE,
+    enable = sys.ESP_HOSTED_MEMMONITOR_ENABLE,
+    _,
+};
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Callback types (Zig-friendly)
+// ─────────────────────────────────────────────────────────────────────────────
+
+pub const CustomDataCallback = *const fn (
+    msg_id: u32,
+    data: []const u8,
+) void;
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Internal adapter state
+// ─────────────────────────────────────────────────────────────────────────────
+
+var custom_data_cb: ?CustomDataCallback = null;
+
+fn customDataCbAdapter(
+    msg_id: u32,
+    data: [*c]const u8,
+    data_len: usize,
+) callconv(.C) void {
+    if (custom_data_cb) |cb| {
+        cb(msg_id, data[0..data_len]);
+    }
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Hosted API
+// ─────────────────────────────────────────────────────────────────────────────
+
+pub const Hosted = struct {
+
+    // ─── Lifecycle ──────────────────────────────────────────────────────────────
+
+    pub fn btControllerInit() !void {
+        try errors.espCheckError(sys.esp_hosted_bt_controller_init());
+    }
+
+    pub fn btControllerDeinit(release_mem: bool) !void {
+        try errors.espCheckError(sys.esp_hosted_bt_controller_deinit(release_mem));
+    }
+
+    pub fn btControllerEnable() !void {
+        try errors.espCheckError(sys.esp_hosted_bt_controller_enable());
+    }
+
+    pub fn btControllerDisable() !void {
+        try errors.espCheckError(sys.esp_hosted_bt_controller_disable());
+    }
+
+    // ─── MAC address management ─────────────────────────────────────────────────
+
+    pub fn setInterfaceMac(typ: EspMacType, mac: []const u8) !void {
+        if (mac.len != MAC_LEN) return error.InvalidMacLength;
+        try errors.espCheckError(sys.esp_hosted_iface_mac_addr_set(@constCast(mac.ptr), mac.len, typ));
+    }
+
+    pub fn getInterfaceMac(typ: EspMacType) ![MAC_LEN]u8 {
+        var mac: [MAC_LEN]u8 = undefined;
+        try errors.espCheckError(sys.esp_hosted_iface_mac_addr_get(&mac, mac.len, typ));
+        return mac;
+    }
+
+    pub fn getInterfaceMacLen(typ: EspMacType) usize {
+        return sys.esp_hosted_iface_mac_addr_len_get(typ);
+    }
+
+    // ─── Coprocessor information ────────────────────────────────────────────────
+
+    pub fn getCoprocessorAppDesc() !EspHostedAppDesc {
+        var desc: EspHostedAppDesc = undefined;
+        try errors.espCheckError(sys.esp_hosted_get_coprocessor_app_desc(&desc));
+        return desc;
+    }
+
+    pub fn getCoprocessorFwVersion() ![3]u32 {
+        var ver: [3]u32 = undefined;
+        try errors.espCheckError(sys.esp_hosted_get_coprocessor_fwversion(&ver));
+        return ver;
+    }
+
+    // ─── Custom data channel ────────────────────────────────────────────────────
+
+    pub fn registerCustomDataCallback(cb: CustomDataCallback) !void {
+        custom_data_cb = cb;
+        try errors.espCheckError(sys.esp_hosted_register_custom_callback(0, customDataCbAdapter)); // msg_id currently ignored by most impls
+    }
+
+    pub fn sendCustomData(msg_id: u32, data: []const u8) !void {
+        try errors.espCheckError(sys.esp_hosted_send_custom_data(msg_id, data.ptr, data.len));
+    }
+
+    // ─── Heartbeat ──────────────────────────────────────────────────────────────
+
+    pub fn configureHeartbeat(enable: bool, duration_seconds: i32) !void {
+        try errors.espCheckError(sys.esp_hosted_configure_heartbeat(enable, duration_seconds));
+    }
+
+    // ─── Memory monitor ─────────────────────────────────────────────────────────
+
+    pub fn setMemoryMonitor(
+        cfg: MemMonitorConfig,
+        report_always: bool,
+        interval_sec: u32,
+        internal_thresholds: sys.esp_hosted_mem_monitor_threshold_t,
+        external_thresholds: sys.esp_hosted_mem_monitor_threshold_t,
+    ) !EspHostedCurrMemInfo {
+        const config = sys.esp_hosted_config_mem_monitor_t{
+            .config = @intFromEnum(cfg),
+            .report_always = report_always,
+            .interval_sec = interval_sec,
+            .internal_mem = internal_thresholds,
+            .external_mem = external_thresholds,
+        };
+
+        var curr: EspHostedCurrMemInfo = undefined;
+        try errors.espCheckError(sys.esp_hosted_set_mem_monitor(&config, &curr));
+        return curr;
+    }
+
+    // ─── Slave OTA (very basic blocking style) ──────────────────────────────────
+
+    pub fn slaveOtaBegin() !void {
+        try errors.espCheckError(sys.esp_hosted_slave_ota_begin());
+    }
+
+    pub fn slaveOtaWrite(data: []const u8) !void {
+        try errors.espCheckError(sys.esp_hosted_slave_ota_write(@constCast(data.ptr), @intCast(data.len)));
+    }
+
+    pub fn slaveOtaEnd() !void {
+        try errors.espCheckError(sys.esp_hosted_slave_ota_end());
+    }
+
+    pub fn slaveOtaActivate() !void {
+        try errors.espCheckError(sys.esp_hosted_slave_ota_activate());
+    }
+
+    pub fn slaveOtaFromUrl(url: []const u8) !void {
+        try errors.espCheckError(sys.esp_hosted_slave_ota(url.ptr));
+    }
+};