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

software/zig_main/imports/now.zig

@@ -0,0 +1,315 @@
+const sys = @import("sys");
+const errors = @import("error");
+
+// ---------------------------------------------------------------------------
+// Re-exported types from sys
+// ---------------------------------------------------------------------------
+
+pub const WifiInterface = sys.wifi_interface_t;
+pub const WifiPktRxCtrl = sys.wifi_pkt_rx_ctrl_t;
+pub const WifiTxInfo = sys.wifi_tx_info_t;
+pub const WifiTxRateConfig = sys.wifi_tx_rate_config_t;
+pub const WifiActionTx = sys.wifi_action_tx_t;
+pub const WifiSecondChan = sys.wifi_second_chan_t;
+pub const WifiRoc = sys.wifi_roc_t;
+
+// ---------------------------------------------------------------------------
+// Constants
+// ---------------------------------------------------------------------------
+
+pub const MAC_LEN = 6;
+pub const LMK_LEN = 16;
+pub const PMK_LEN = 16;
+pub const OUI_LEN = 3;
+
+// ---------------------------------------------------------------------------
+// Send status
+// ---------------------------------------------------------------------------
+
+pub const SendStatus = enum(c_uint) {
+    success = 0,
+    fail = 1,
+};
+
+// ---------------------------------------------------------------------------
+// Peer info
+// ---------------------------------------------------------------------------
+
+pub const PeerInfo = extern struct {
+    peer_addr: [MAC_LEN]u8 = .{0} ** MAC_LEN,
+    lmk: [LMK_LEN]u8 = .{0} ** LMK_LEN,
+    channel: u8 = 0,
+    ifidx: WifiInterface = undefined,
+    encrypt: bool = false,
+    priv: ?*anyopaque = null,
+};
+
+pub const PeerNum = extern struct {
+    total_num: c_int = 0,
+    encrypt_num: c_int = 0,
+};
+
+// ---------------------------------------------------------------------------
+// Receive info (passed to the recv callback)
+// ---------------------------------------------------------------------------
+
+pub const RecvInfo = extern struct {
+    src_addr: [*c]u8 = null,
+    des_addr: [*c]u8 = null,
+    rx_ctrl: ?*WifiPktRxCtrl = null,
+};
+
+// ---------------------------------------------------------------------------
+// Switch-channel / remain-on-channel action structs
+// ---------------------------------------------------------------------------
+
+pub const SwitchChannel = extern struct {
+    type: WifiActionTx = undefined,
+    channel: u8 = 0,
+    sec_channel: WifiSecondChan = undefined,
+    wait_time_ms: u32 = 0,
+    op_id: u8 = 0,
+    dest_mac: [MAC_LEN]u8 = .{0} ** MAC_LEN,
+    data_len: u16 = 0,
+    _data: [0]u8 = .{},
+};
+
+pub const RemainOnChannel = extern struct {
+    type: WifiRoc = undefined,
+    channel: u8 = 0,
+    sec_channel: WifiSecondChan = undefined,
+    wait_time_ms: u32 = 0,
+    op_id: u8 = 0,
+};
+
+// ---------------------------------------------------------------------------
+// Callback types — use these in your application; cast to/from the C type
+// at registration time via the EspNow.registerRecvCb / registerSendCb wrappers.
+// ---------------------------------------------------------------------------
+
+pub const RecvCb = *const fn (
+    info: *const RecvInfo,
+    data: [*]const u8,
+    data_len: usize,
+) void;
+
+pub const SendCb = *const fn (
+    tx_info: *const WifiTxInfo,
+    status: SendStatus,
+) void;
+
+// Internal C-ABI adapters stored when a Zig callback is registered.
+var recv_cb_zig: ?RecvCb = null;
+var send_cb_zig: ?SendCb = null;
+
+fn recvCbAdapter(
+    info: [*c]const sys.esp_now_recv_info_t,
+    data: [*c]const u8,
+    data_len: c_int,
+) callconv(.c) void {
+    if (recv_cb_zig) |cb|
+        cb(@ptrCast(info), data, @intCast(data_len));
+}
+
+fn sendCbAdapter(
+    tx_info: [*c]const sys.esp_now_send_info_t,
+    status: sys.esp_now_send_status_t,
+) callconv(.c) void {
+    if (send_cb_zig) |cb|
+        cb(@ptrCast(tx_info), @enumFromInt(status));
+}
+
+// ---------------------------------------------------------------------------
+// EspNow namespace
+// ---------------------------------------------------------------------------
+
+pub const EspNow = struct {
+
+    // -- Lifecycle -----------------------------------------------------------
+
+    pub fn init() !void {
+        try errors.espCheckError(sys.esp_now_init());
+    }
+
+    pub fn deinit() !void {
+        try errors.espCheckError(sys.esp_now_deinit());
+    }
+
+    pub fn getVersion() !u32 {
+        var ver: u32 = 0;
+        try errors.espCheckError(sys.esp_now_get_version(&ver));
+        return ver;
+    }
+
+    // -- Callbacks -----------------------------------------------------------
+
+    /// Register a Zig-typed receive callback.
+    pub fn registerRecvCb(cb: RecvCb) !void {
+        recv_cb_zig = cb;
+        try errors.espCheckError(sys.esp_now_register_recv_cb(recvCbAdapter));
+    }
+
+    pub fn unregisterRecvCb() !void {
+        recv_cb_zig = null;
+        try errors.espCheckError(sys.esp_now_unregister_recv_cb());
+    }
+
+    /// Register a Zig-typed send callback.
+    pub fn registerSendCb(cb: SendCb) !void {
+        send_cb_zig = cb;
+        try errors.espCheckError(sys.esp_now_register_send_cb(sendCbAdapter));
+    }
+
+    pub fn unregisterSendCb() !void {
+        send_cb_zig = null;
+        try errors.espCheckError(sys.esp_now_unregister_send_cb());
+    }
+
+    // -- Sending -------------------------------------------------------------
+
+    /// Send data to a peer.
+    /// `peer_addr` — 6-byte MAC or null for broadcast.
+    /// `data`      — payload slice (max 250 bytes).
+    pub fn send(peer_addr: ?*const [MAC_LEN]u8, data: []const u8) !void {
+        const addr_ptr: [*c]const u8 = if (peer_addr) |a| a else null;
+        try errors.espCheckError(sys.esp_now_send(addr_ptr, data.ptr, data.len));
+    }
+
+    // -- Peer management -----------------------------------------------------
+
+    pub fn addPeer(peer: *const PeerInfo) !void {
+        try errors.espCheckError(sys.esp_now_add_peer(@ptrCast(peer)));
+    }
+
+    pub fn delPeer(peer_addr: *const [MAC_LEN]u8) !void {
+        try errors.espCheckError(sys.esp_now_del_peer(peer_addr));
+    }
+
+    pub fn modPeer(peer: *const PeerInfo) !void {
+        try errors.espCheckError(sys.esp_now_mod_peer(@ptrCast(peer)));
+    }
+
+    pub fn setPeerRateConfig(
+        peer_addr: *const [MAC_LEN]u8,
+        config: *WifiTxRateConfig,
+    ) !void {
+        try errors.espCheckError(sys.esp_now_set_peer_rate_config(peer_addr, config));
+    }
+
+    pub fn getPeer(peer_addr: *const [MAC_LEN]u8) !PeerInfo {
+        var info: PeerInfo = undefined;
+        try errors.espCheckError(sys.esp_now_get_peer(peer_addr, @ptrCast(&info)));
+        return info;
+    }
+
+    /// Iterate over the peer list.
+    /// Pass `from_head = true` on the first call, then `false` to continue.
+    pub fn fetchPeer(from_head: bool) !PeerInfo {
+        var info: PeerInfo = undefined;
+        try errors.espCheckError(sys.esp_now_fetch_peer(from_head, @ptrCast(&info)));
+        return info;
+    }
+
+    pub fn isPeerExist(peer_addr: *const [MAC_LEN]u8) bool {
+        return sys.esp_now_is_peer_exist(peer_addr);
+    }
+
+    pub fn getPeerNum() !PeerNum {
+        var num: PeerNum = undefined;
+        try errors.espCheckError(sys.esp_now_get_peer_num(@ptrCast(&num)));
+        return num;
+    }
+
+    // -- Security ------------------------------------------------------------
+
+    /// Set the Primary Master Key (16 bytes).
+    pub fn setPmk(pmk: *const [PMK_LEN]u8) !void {
+        try errors.espCheckError(sys.esp_now_set_pmk(pmk));
+    }
+
+    // -- Power saving --------------------------------------------------------
+
+    pub fn setWakeWindow(window: u16) !void {
+        try errors.espCheckError(sys.esp_now_set_wake_window(window));
+    }
+
+    // -- OUI -----------------------------------------------------------------
+
+    /// Set user OUI (3 bytes).
+    pub fn setUserOui(oui: *[OUI_LEN]u8) !void {
+        try errors.espCheckError(sys.esp_now_set_user_oui(oui));
+    }
+
+    /// Get user OUI (3 bytes).
+    pub fn getUserOui(oui: *[OUI_LEN]u8) !void {
+        try errors.espCheckError(sys.esp_now_get_user_oui(oui));
+    }
+
+    // -- Channel actions -----------------------------------------------------
+
+    pub fn switchChannel(config: *SwitchChannel) !void {
+        try errors.espCheckError(sys.esp_now_switch_channel_tx(@ptrCast(config)));
+    }
+
+    pub fn remainOnChannel(config: *RemainOnChannel) !void {
+        try errors.espCheckError(sys.esp_now_remain_on_channel(@ptrCast(config)));
+    }
+};
+
+// ---------------------------------------------------------------------------
+// SmartConfig — bundled here because the raw bindings file included it.
+// ---------------------------------------------------------------------------
+
+pub const SmartconfigType = enum(c_uint) {
+    esptouch = 0,
+    airkiss = 1,
+    esptouch_airkiss = 2,
+    esptouch_v2 = 3,
+};
+
+pub const SmartconfigEvent = enum(c_uint) {
+    scan_done = 0,
+    found_channel = 1,
+    got_ssid_pswd = 2,
+    send_ack_done = 3,
+};
+
+pub const SmartconfigGotSsidPswd = extern struct {
+    ssid: [32]u8 = .{0} ** 32,
+    password: [64]u8 = .{0} ** 64,
+    bssid_set: bool = false,
+    bssid: [MAC_LEN]u8 = .{0} ** MAC_LEN,
+    type: SmartconfigType = .esptouch,
+    token: u8 = 0,
+    cellphone_ip: [4]u8 = .{0} ** 4,
+};
+
+pub const SmartConfig = struct {
+    pub fn getVersion() [*:0]const u8 {
+        return sys.esp_smartconfig_get_version();
+    }
+
+    pub fn start(config: *const sys.smartconfig_start_config_t) !void {
+        try errors.espCheckError(sys.esp_smartconfig_start(config));
+    }
+
+    pub fn stop() !void {
+        try errors.espCheckError(sys.esp_smartconfig_stop());
+    }
+
+    pub fn setTimeout(time_s: u8) !void {
+        try errors.espCheckError(sys.esp_esptouch_set_timeout(time_s));
+    }
+
+    pub fn setType(kind: SmartconfigType) !void {
+        try errors.espCheckError(sys.esp_smartconfig_set_type(@intFromEnum(kind)));
+    }
+
+    pub fn setFastMode(enable: bool) !void {
+        try errors.espCheckError(sys.esp_smartconfig_fast_mode(enable));
+    }
+
+    pub fn getRvdData(buf: []u8) !void {
+        try errors.espCheckError(sys.esp_smartconfig_get_rvd_data(buf.ptr, @intCast(buf.len)));
+    }
+};