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

software/zig_main/imports/pthread.zig

@@ -0,0 +1,233 @@
+// Zig wrappers for ESP-IDF's POSIX pthread implementation (backed by FreeRTOS).
+//
+// Symbols come from idf-sys.zig (generated by `zig translate-c include/stubs.h`
+// with ESP_IDF_COMP_PTHREAD_ENABLED defined, which pulls in pthread.h and
+// esp_pthread.h).
+//
+// Error handling:
+//   POSIX pthread_* functions return 0 on success, errno on failure → `check()`.
+//   ESP-IDF esp_pthread_* functions return esp_err_t → `errors.espCheckError()`.
+
+const sys = @import("sys");
+const errors = @import("error");
+
+// ---------------------------------------------------------------------------
+// Error helper for POSIX-style return codes
+// ---------------------------------------------------------------------------
+
+pub const Error = error{PthreadError};
+
+fn check(rc: c_int) Error!void {
+    if (rc != 0) return error.PthreadError;
+}
+
+// ---------------------------------------------------------------------------
+// Type aliases (from idf-sys)
+// ---------------------------------------------------------------------------
+
+pub const Thread_t = sys.pthread_t;
+pub const Attr_t = sys.pthread_attr_t;
+pub const Mutex_t = sys.pthread_mutex_t;
+pub const MutexAttr_t = sys.pthread_mutexattr_t;
+pub const Cond_t = sys.pthread_cond_t;
+pub const CondAttr_t = sys.pthread_condattr_t;
+pub const Key_t = sys.pthread_key_t;
+pub const Once_t = sys.pthread_once_t;
+pub const SchedParam = sys.sched_param;
+pub const Timespec = sys.timespec;
+
+/// ESP-IDF-specific pthread configuration (stack size, priority, core pinning, etc.).
+pub const EspCfg = sys.esp_pthread_cfg_t;
+
+// ---------------------------------------------------------------------------
+// Thread — lifecycle & identity
+// ---------------------------------------------------------------------------
+
+pub const Thread = struct {
+    /// Create a thread with optional attributes. Returns the thread ID.
+    pub fn create(
+        attr: ?*const Attr_t,
+        start_fn: *const fn (?*anyopaque) callconv(.c) ?*anyopaque,
+        arg: ?*anyopaque,
+    ) !Thread_t {
+        var tid: Thread_t = undefined;
+        try check(sys.pthread_create(&tid, attr, start_fn, arg));
+        return tid;
+    }
+
+    /// Wait for a thread to terminate; returns its exit value.
+    pub fn join(tid: Thread_t) !?*anyopaque {
+        var value: ?*anyopaque = null;
+        try check(sys.pthread_join(tid, &value));
+        return value;
+    }
+
+    /// Detach a thread so its resources are freed automatically on exit.
+    pub fn detach(tid: Thread_t) !void {
+        try check(sys.pthread_detach(tid));
+    }
+
+    /// Terminate the calling thread with `retval`.
+    pub fn exit(retval: ?*anyopaque) noreturn {
+        sys.pthread_exit(retval);
+        unreachable;
+    }
+
+    /// Return the thread ID of the calling thread.
+    pub fn self() Thread_t {
+        return sys.pthread_self();
+    }
+
+    /// Return `true` if two thread IDs refer to the same thread.
+    pub fn equal(t1: Thread_t, t2: Thread_t) bool {
+        return sys.pthread_equal(t1, t2) != 0;
+    }
+
+    /// Yield the processor to another ready thread.
+    pub fn yield() void {
+        sys.pthread_yield();
+    }
+};
+
+// ---------------------------------------------------------------------------
+// Thread attributes
+// ---------------------------------------------------------------------------
+
+pub const Attr = struct {
+    pub fn init(attr: *Attr_t) !void {
+        try check(sys.pthread_attr_init(attr));
+    }
+    pub fn deinit(attr: *Attr_t) !void {
+        try check(sys.pthread_attr_destroy(attr));
+    }
+    pub fn setStackSize(attr: *Attr_t, size: usize) !void {
+        try check(sys.pthread_attr_setstacksize(attr, size));
+    }
+    pub fn getStackSize(attr: *const Attr_t) !usize {
+        var sz: usize = 0;
+        try check(sys.pthread_attr_getstacksize(attr, &sz));
+        return sz;
+    }
+    pub fn setDetachState(attr: *Attr_t, state: c_int) !void {
+        try check(sys.pthread_attr_setdetachstate(attr, state));
+    }
+    pub fn getDetachState(attr: *const Attr_t) !c_int {
+        var s: c_int = 0;
+        try check(sys.pthread_attr_getdetachstate(attr, &s));
+        return s;
+    }
+    pub fn setSchedParam(attr: *Attr_t, param: *const SchedParam) !void {
+        try check(sys.pthread_attr_setschedparam(attr, param));
+    }
+    pub fn getSchedParam(attr: *const Attr_t) !SchedParam {
+        var p: SchedParam = .{};
+        try check(sys.pthread_attr_getschedparam(attr, &p));
+        return p;
+    }
+};
+
+// ---------------------------------------------------------------------------
+// Mutex
+// ---------------------------------------------------------------------------
+
+pub const Mutex = struct {
+    pub fn init(mutex: *Mutex_t, attr: ?*const MutexAttr_t) !void {
+        try check(sys.pthread_mutex_init(mutex, attr));
+    }
+    pub fn deinit(mutex: *Mutex_t) !void {
+        try check(sys.pthread_mutex_destroy(mutex));
+    }
+    pub fn lock(mutex: *Mutex_t) !void {
+        try check(sys.pthread_mutex_lock(mutex));
+    }
+    pub fn tryLock(mutex: *Mutex_t) !void {
+        try check(sys.pthread_mutex_trylock(mutex));
+    }
+    pub fn unlock(mutex: *Mutex_t) !void {
+        try check(sys.pthread_mutex_unlock(mutex));
+    }
+    pub fn timedLock(mutex: *Mutex_t, timeout: *const Timespec) !void {
+        try check(sys.pthread_mutex_timedlock(mutex, timeout));
+    }
+};
+
+// ---------------------------------------------------------------------------
+// Condition variable
+// ---------------------------------------------------------------------------
+
+pub const Cond = struct {
+    pub fn init(cond: *Cond_t, attr: ?*const CondAttr_t) !void {
+        try check(sys.pthread_cond_init(cond, attr));
+    }
+    pub fn deinit(cond: *Cond_t) !void {
+        try check(sys.pthread_cond_destroy(cond));
+    }
+    pub fn wait(cond: *Cond_t, mutex: *Mutex_t) !void {
+        try check(sys.pthread_cond_wait(cond, mutex));
+    }
+    pub fn timedWait(cond: *Cond_t, mutex: *Mutex_t, abstime: *const Timespec) !void {
+        try check(sys.pthread_cond_timedwait(cond, mutex, abstime));
+    }
+    pub fn signal(cond: *Cond_t) !void {
+        try check(sys.pthread_cond_signal(cond));
+    }
+    pub fn broadcast(cond: *Cond_t) !void {
+        try check(sys.pthread_cond_broadcast(cond));
+    }
+};
+
+// ---------------------------------------------------------------------------
+// Thread-local storage (TLS) keys
+// ---------------------------------------------------------------------------
+
+pub const Key = struct {
+    pub fn create(destructor: ?*const fn (?*anyopaque) callconv(.c) void) !Key_t {
+        var key: Key_t = undefined;
+        try check(sys.pthread_key_create(&key, destructor));
+        return key;
+    }
+    pub fn delete(key: Key_t) !void {
+        try check(sys.pthread_key_delete(key));
+    }
+    pub fn setSpecific(key: Key_t, value: ?*const anyopaque) !void {
+        try check(sys.pthread_setspecific(key, value));
+    }
+    pub fn getSpecific(key: Key_t) ?*anyopaque {
+        return sys.pthread_getspecific(key);
+    }
+};
+
+// ---------------------------------------------------------------------------
+// Once-only initialisation
+// ---------------------------------------------------------------------------
+
+pub fn once(once_ctrl: *Once_t, init_fn: *const fn () callconv(.c) void) !void {
+    try check(sys.pthread_once(once_ctrl, init_fn));
+}
+
+// ---------------------------------------------------------------------------
+// ESP-IDF pthread extensions (esp_pthread.h)
+// ---------------------------------------------------------------------------
+
+pub const EspThread = struct {
+    /// Return a default ESP pthread configuration populated from menuconfig values.
+    pub fn getDefaultConfig() EspCfg {
+        return sys.esp_pthread_get_default_config();
+    }
+
+    /// Set per-thread creation parameters for the next `pthread_create()` call.
+    /// Overrides stack size, priority, core affinity, and thread name.
+    pub fn setConfig(cfg: *const EspCfg) !void {
+        try errors.espCheckError(sys.esp_pthread_set_cfg(cfg));
+    }
+
+    /// Retrieve the currently active ESP pthread configuration.
+    pub fn getConfig(cfg: *EspCfg) !void {
+        try errors.espCheckError(sys.esp_pthread_get_cfg(cfg));
+    }
+
+    /// Initialise the ESP pthread library (called internally by ESP-IDF startup).
+    pub fn init() !void {
+        try errors.espCheckError(sys.esp_pthread_init());
+    }
+};