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

software/zig_main/include/pthread_stubs.h

@@ -0,0 +1,121 @@
+/* pthread_stubs.h — Minimal POSIX pthread declarations for zig translate-c.
+ *
+ * The system pthread.h (newlib) fails translate-c because it includes
+ * <sys/types.h>, <time.h>, and <sched.h> — all of which are blocked by
+ * header guards in stubs.h. This file provides the exact types and function
+ * prototypes that ESP-IDF's FreeRTOS-backed pthread implementation exposes,
+ * expressed in a form translate-c can digest without those dependencies.
+ */
+
+#ifndef PTHREAD_STUBS_H
+#define PTHREAD_STUBS_H
+
+#include <stddef.h>
+#include <stdint.h>
+
+/* ── Opaque handle types ──────────────────────────────────────────────────── */
+
+typedef unsigned int pthread_t;
+typedef unsigned int pthread_mutex_t;
+typedef unsigned int pthread_cond_t;
+typedef unsigned int pthread_key_t;
+
+/* ── Attribute structs ───────────────────────────────────────────────────── */
+
+typedef struct {
+    int is_initialized;
+    void *stackaddr;
+    int stacksize;
+    int contentionscope;
+    int inheritsched;
+    int schedpolicy;
+    int sched_priority;   /* inline sched_param to avoid sched.h dependency */
+    int detachstate;
+} pthread_attr_t;
+
+typedef struct {
+    int is_initialized;
+    int type;
+    int recursive;
+} pthread_mutexattr_t;
+
+typedef struct {
+    int is_initialized;
+    unsigned long clock;
+} pthread_condattr_t;
+
+typedef struct {
+    int is_initialized;
+    int init_executed;
+} pthread_once_t;
+
+/* ── timespec (needed for timedlock / timedwait) ─────────────────────────── */
+
+/* Define struct timespec once and mark all known system guards to prevent
+   sys/_timespec.h from redefining it with an incompatible layout. */
+#if !defined(_TIMESPEC_DEFINED) && !defined(_SYS__TIMESPEC_H_)
+#define _TIMESPEC_DEFINED
+#define _SYS__TIMESPEC_H_
+struct timespec {
+    long tv_sec;
+    long tv_nsec;
+};
+#endif
+
+/* ── Thread lifecycle ────────────────────────────────────────────────────── */
+
+int  pthread_create(pthread_t *tid, const pthread_attr_t *attr,
+                    void *(*start_routine)(void *), void *arg);
+int  pthread_join(pthread_t thread, void **value_ptr);
+int  pthread_detach(pthread_t thread);
+void pthread_exit(void *value_ptr);
+pthread_t pthread_self(void);
+int  pthread_equal(pthread_t t1, pthread_t t2);
+void pthread_yield(void);
+int  pthread_once(pthread_once_t *once_control, void (*init_routine)(void));
+int  pthread_cancel(pthread_t thread);
+int  pthread_setcancelstate(int state, int *oldstate);
+int  pthread_setcanceltype(int type, int *oldtype);
+void pthread_testcancel(void);
+
+/* ── Thread attributes ───────────────────────────────────────────────────── */
+
+int pthread_attr_init(pthread_attr_t *attr);
+int pthread_attr_destroy(pthread_attr_t *attr);
+int pthread_attr_setstacksize(pthread_attr_t *attr, size_t stacksize);
+int pthread_attr_getstacksize(const pthread_attr_t *attr, size_t *stacksize);
+int pthread_attr_setdetachstate(pthread_attr_t *attr, int detachstate);
+int pthread_attr_getdetachstate(const pthread_attr_t *attr, int *detachstate);
+
+/* ── Mutex ───────────────────────────────────────────────────────────────── */
+
+int pthread_mutexattr_init(pthread_mutexattr_t *attr);
+int pthread_mutexattr_destroy(pthread_mutexattr_t *attr);
+int pthread_mutexattr_gettype(const pthread_mutexattr_t *attr, int *kind);
+int pthread_mutexattr_settype(pthread_mutexattr_t *attr, int kind);
+int pthread_mutex_init(pthread_mutex_t *mutex, const pthread_mutexattr_t *attr);
+int pthread_mutex_destroy(pthread_mutex_t *mutex);
+int pthread_mutex_lock(pthread_mutex_t *mutex);
+int pthread_mutex_trylock(pthread_mutex_t *mutex);
+int pthread_mutex_unlock(pthread_mutex_t *mutex);
+int pthread_mutex_timedlock(pthread_mutex_t *mutex,
+                            const struct timespec *timeout);
+
+/* ── Condition variable ──────────────────────────────────────────────────── */
+
+int pthread_cond_init(pthread_cond_t *cond, const pthread_condattr_t *attr);
+int pthread_cond_destroy(pthread_cond_t *cond);
+int pthread_cond_signal(pthread_cond_t *cond);
+int pthread_cond_broadcast(pthread_cond_t *cond);
+int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex);
+int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex,
+                           const struct timespec *abstime);
+
+/* ── Thread-local storage (TLS) keys ─────────────────────────────────────── */
+
+int   pthread_key_create(pthread_key_t *key, void (*destructor)(void *));
+int   pthread_key_delete(pthread_key_t key);
+int   pthread_setspecific(pthread_key_t key, const void *value);
+void *pthread_getspecific(pthread_key_t key);
+
+#endif /* PTHREAD_STUBS_H */