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

software/zig_main/imports/mqtt.zig

@@ -0,0 +1,236 @@
+const sys = @import("sys");
+const errors = @import("error");
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Re-exported types
+// ─────────────────────────────────────────────────────────────────────────────
+pub const Handle = sys.esp_mqtt_client_handle_t;
+pub const EventId = sys.esp_mqtt_event_id_t;
+pub const Event = sys.esp_mqtt_event_t;
+pub const EventHandle = sys.esp_mqtt_event_handle_t;
+pub const EventHandler = sys.esp_event_handler_t;
+pub const ClientConfig = sys.esp_mqtt_client_config_t;
+pub const Topic = sys.esp_mqtt_topic_t;
+pub const ErrorCodes = sys.esp_mqtt_error_codes_t;
+pub const ErrorType = sys.esp_mqtt_error_type_t;
+pub const Transport = sys.esp_mqtt_transport_t;
+pub const ProtocolVersion = sys.esp_mqtt_protocol_ver_t;
+pub const ConnectReturnCode = sys.esp_mqtt_connect_return_code_t;
+
+// MQTT v5
+pub const Handle5 = sys.esp_mqtt5_client_handle_t;
+pub const ErrorReasonCode5 = sys.mqtt5_error_reason_code;
+pub const UserPropertyHandle5 = sys.mqtt5_user_property_handle_t;
+pub const UserPropertyItem5 = sys.esp_mqtt5_user_property_item_t;
+pub const ConnectionProperty5 = sys.esp_mqtt5_connection_property_config_t;
+pub const PublishProperty5 = sys.esp_mqtt5_publish_property_config_t;
+pub const SubscribeProperty5 = sys.esp_mqtt5_subscribe_property_config_t;
+pub const UnsubscribeProperty5 = sys.esp_mqtt5_unsubscribe_property_config_t;
+pub const DisconnectProperty5 = sys.esp_mqtt5_disconnect_property_config_t;
+pub const EventProperty5 = sys.esp_mqtt5_event_property_t;
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Errors
+// ─────────────────────────────────────────────────────────────────────────────
+pub const Error = error{
+    /// publish / subscribe / enqueue returned -1 (queuing failed)
+    Failed,
+    /// publish returned -2 (outbox full)
+    OutboxFull,
+};
+
+/// Converts a message-id return value (≥0 = ok, -1 = failed, -2 = outbox full)
+/// into `!u32`.
+fn msgIdResult(rc: c_int) Error!u32 {
+    return switch (rc) {
+        -2 => error.OutboxFull,
+        -1 => error.Failed,
+        else => @intCast(rc),
+    };
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Client lifecycle
+// ─────────────────────────────────────────────────────────────────────────────
+
+/// Initialise a new MQTT client.  Returns `null` if allocation fails.
+pub fn init(cfg: *const ClientConfig) ?Handle {
+    return sys.esp_mqtt_client_init(cfg);
+}
+
+pub fn deinit(client: Handle) !void {
+    return errors.espCheckError(sys.esp_mqtt_client_destroy(client));
+}
+
+pub fn setConfig(client: Handle, cfg: *const ClientConfig) !void {
+    return errors.espCheckError(sys.esp_mqtt_set_config(client, cfg));
+}
+
+pub fn setUri(client: Handle, uri: [:0]const u8) !void {
+    return errors.espCheckError(sys.esp_mqtt_client_set_uri(client, uri.ptr));
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Connection control
+// ─────────────────────────────────────────────────────────────────────────────
+
+pub fn start(client: Handle) !void {
+    return errors.espCheckError(sys.esp_mqtt_client_start(client));
+}
+
+pub fn stop(client: Handle) !void {
+    return errors.espCheckError(sys.esp_mqtt_client_stop(client));
+}
+
+pub fn reconnect(client: Handle) !void {
+    return errors.espCheckError(sys.esp_mqtt_client_reconnect(client));
+}
+
+pub fn disconnect(client: Handle) !void {
+    return errors.espCheckError(sys.esp_mqtt_client_disconnect(client));
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Publish
+// ─────────────────────────────────────────────────────────────────────────────
+
+pub const PublishConfig = struct {
+    qos: u2 = 0,
+    retain: bool = false,
+};
+
+/// Publish `data` to `topic`.  Returns the message-id assigned by the broker.
+pub fn publish(client: Handle, topic: [:0]const u8, data: []const u8, cfg: PublishConfig) Error!u32 {
+    return msgIdResult(sys.esp_mqtt_client_publish(
+        client,
+        topic.ptr,
+        data.ptr,
+        @intCast(data.len),
+        @intCast(cfg.qos),
+        @intFromBool(cfg.retain),
+    ));
+}
+
+pub const EnqueueConfig = struct {
+    qos: u2 = 0,
+    retain: bool = false,
+    /// Store in outbox even when disconnected.
+    store: bool = true,
+};
+
+/// Enqueue a publish for delivery (stores in outbox when disconnected).
+pub fn enqueue(client: Handle, topic: [:0]const u8, data: []const u8, cfg: EnqueueConfig) Error!u32 {
+    return msgIdResult(sys.esp_mqtt_client_enqueue(
+        client,
+        topic.ptr,
+        data.ptr,
+        @intCast(data.len),
+        @intCast(cfg.qos),
+        @intFromBool(cfg.retain),
+        cfg.store,
+    ));
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Subscribe / Unsubscribe
+// ─────────────────────────────────────────────────────────────────────────────
+
+/// Subscribe to a single topic filter.  Returns the message-id.
+pub fn subscribe(client: Handle, topic: [:0]const u8, qos: u2) Error!u32 {
+    return msgIdResult(sys.esp_mqtt_client_subscribe_single(client, topic.ptr, @intCast(qos)));
+}
+
+/// Subscribe to multiple topic filters in one call.
+pub fn subscribeMultiple(client: Handle, topics: []const Topic) Error!u32 {
+    return msgIdResult(sys.esp_mqtt_client_subscribe_multiple(
+        client,
+        topics.ptr,
+        @intCast(topics.len),
+    ));
+}
+
+pub fn unsubscribe(client: Handle, topic: [:0]const u8) Error!u32 {
+    return msgIdResult(sys.esp_mqtt_client_unsubscribe(client, topic.ptr));
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Event registration
+// ─────────────────────────────────────────────────────────────────────────────
+
+pub fn registerEvent(client: Handle, event: EventId, handler: EventHandler, arg: ?*anyopaque) !void {
+    return errors.espCheckError(sys.esp_mqtt_client_register_event(client, event, handler, arg));
+}
+
+pub fn unregisterEvent(client: Handle, event: EventId, handler: EventHandler) !void {
+    return errors.espCheckError(sys.esp_mqtt_client_unregister_event(client, event, handler));
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Diagnostics
+// ─────────────────────────────────────────────────────────────────────────────
+
+/// Returns the current outbox size in bytes.
+pub fn getOutboxSize(client: Handle) usize {
+    return @intCast(sys.esp_mqtt_client_get_outbox_size(client));
+}
+
+/// Dispatch a custom application event through the MQTT event loop.
+pub fn dispatchCustomEvent(client: Handle, event: *Event) !void {
+    return errors.espCheckError(sys.esp_mqtt_dispatch_custom_event(client, event));
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+// MQTT v5 extensions
+// ─────────────────────────────────────────────────────────────────────────────
+
+pub const v5 = struct {
+    pub fn setConnectProperty(client: Handle5, prop: *const ConnectionProperty5) !void {
+        return errors.espCheckError(sys.esp_mqtt5_client_set_connect_property(client, prop));
+    }
+
+    pub fn setPublishProperty(client: Handle5, prop: *const PublishProperty5) !void {
+        return errors.espCheckError(sys.esp_mqtt5_client_set_publish_property(client, prop));
+    }
+
+    pub fn setSubscribeProperty(client: Handle5, prop: *const SubscribeProperty5) !void {
+        return errors.espCheckError(sys.esp_mqtt5_client_set_subscribe_property(client, prop));
+    }
+
+    pub fn setUnsubscribeProperty(client: Handle5, prop: *const UnsubscribeProperty5) !void {
+        return errors.espCheckError(sys.esp_mqtt5_client_set_unsubscribe_property(client, prop));
+    }
+
+    pub fn setDisconnectProperty(client: Handle5, prop: *const DisconnectProperty5) !void {
+        return errors.espCheckError(sys.esp_mqtt5_client_set_disconnect_property(client, prop));
+    }
+
+    // ── User properties ───────────────────────────────────────────────────
+
+    pub fn setUserProperty(handle: *UserPropertyHandle5, items: []UserPropertyItem5) !void {
+        return errors.espCheckError(sys.esp_mqtt5_client_set_user_property(
+            handle,
+            items.ptr,
+            @intCast(items.len),
+        ));
+    }
+
+    /// Returns how many user-property items are present.
+    pub fn getUserPropertyCount(handle: UserPropertyHandle5) u8 {
+        return sys.esp_mqtt5_client_get_user_property_count(handle);
+    }
+
+    /// Read user-property items into the caller-supplied slice.
+    /// The slice length must be ≥ `getUserPropertyCount()`.
+    pub fn getUserProperty(handle: UserPropertyHandle5, out: []UserPropertyItem5) !void {
+        var count: u8 = @intCast(out.len);
+        return errors.espCheckError(sys.esp_mqtt5_client_get_user_property(
+            handle,
+            out.ptr,
+            &count,
+        ));
+    }
+
+    pub fn deleteUserProperty(handle: UserPropertyHandle5) void {
+        sys.esp_mqtt5_client_delete_user_property(handle);
+    }
+};