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

software/zig_main/main/matter_wrappers.cpp

@@ -0,0 +1,190 @@
+/*
+ * matter_wrappers.cpp — extern "C" shims that bridge the C wrapper interface
+ * (matter_stubs.h) to the C++ esp_matter API.
+ *
+ * This file is compiled as C++ by the ESP-IDF CMake build, giving it full
+ * access to CHIP SDK headers and the esp_matter C++ namespace.
+ */
+
+#include <esp_err.h>
+#include <esp_matter.h>
+#include <esp_matter_core.h>
+#include <esp_matter_identify.h>
+#include <esp_matter_attribute_utils.h>
+#include <esp_matter_endpoint.h>
+#include <esp_matter_cluster.h>
+#include <esp_matter_attribute.h>
+#include <esp_matter_data_model.h>
+#include <esp_log.h>
+
+#include "matter_stubs.h"
+
+static const char *TAG = "matter_wrap";
+
+/* ── Type alias shorthands ────────────────────────────────────────────────── */
+
+using namespace esp_matter;
+
+/* ── Callback adapter types ───────────────────────────────────────────────── */
+
+/*
+ * The C callback types in matter_stubs.h are binary-compatible with the C++
+ * types declared in esp_matter_attribute_utils.h and esp_matter_identify.h.
+ * We use reinterpret_cast to pass them across the ABI boundary.
+ */
+
+static attribute::callback_t s_attr_cb  = nullptr;
+static identification::callback_t s_ident_cb = nullptr;
+
+/* ── Core ─────────────────────────────────────────────────────────────────── */
+
+extern "C" esp_err_t esp_matter_wrapper_start(
+    esp_matter_attr_callback_t     attr_cb,
+    esp_matter_identify_callback_t identify_cb)
+{
+    s_attr_cb  = reinterpret_cast<attribute::callback_t>(attr_cb);
+    s_ident_cb = reinterpret_cast<identification::callback_t>(identify_cb);
+    return esp_matter::start(nullptr);
+}
+
+extern "C" esp_err_t esp_matter_wrapper_factory_reset(void)
+{
+    return esp_matter::factory_reset();
+}
+
+extern "C" bool esp_matter_wrapper_is_started(void)
+{
+    return esp_matter::is_started();
+}
+
+/* ── Node ─────────────────────────────────────────────────────────────────── */
+
+extern "C" esp_matter_node_t *esp_matter_wrapper_node_create(
+    esp_matter_attr_callback_t     attr_cb,
+    esp_matter_identify_callback_t identify_cb,
+    void                          *priv_data)
+{
+    node::config_t node_cfg;
+    auto *attr_cpp  = reinterpret_cast<attribute::callback_t>(attr_cb);
+    auto *ident_cpp = reinterpret_cast<identification::callback_t>(identify_cb);
+    return node::create(&node_cfg, attr_cpp, ident_cpp, priv_data);
+}
+
+/* ── Endpoint ─────────────────────────────────────────────────────────────── */
+
+extern "C" esp_matter_endpoint_t *esp_matter_wrapper_endpoint_create(
+    esp_matter_node_t *node,
+    uint8_t            flags,
+    void              *priv_data)
+{
+    return endpoint::create(node, flags, priv_data);
+}
+
+extern "C" esp_err_t esp_matter_wrapper_endpoint_destroy(
+    esp_matter_node_t    *node,
+    esp_matter_endpoint_t *ep)
+{
+    return endpoint::destroy(node, ep);
+}
+
+extern "C" uint16_t esp_matter_wrapper_endpoint_get_id(
+    esp_matter_endpoint_t *ep)
+{
+    return endpoint::get_id(ep);
+}
+
+extern "C" esp_err_t esp_matter_wrapper_endpoint_add_device_type(
+    esp_matter_endpoint_t *ep,
+    uint32_t               device_type_id,
+    uint8_t                version)
+{
+    return endpoint::add_device_type(ep, device_type_id, version);
+}
+
+extern "C" esp_err_t esp_matter_wrapper_endpoint_enable(
+    esp_matter_endpoint_t *ep)
+{
+    return endpoint::enable(ep);
+}
+
+/* ── Pre-built device-type endpoints ─────────────────────────────────────── */
+
+extern "C" esp_matter_endpoint_t *esp_matter_wrapper_add_on_off_light(
+    esp_matter_node_t *node,
+    uint8_t            flags,
+    void              *priv_data)
+{
+    endpoint::on_off_light::config_t cfg;
+    return endpoint::on_off_light::create(node, &cfg, flags, priv_data);
+}
+
+extern "C" esp_matter_endpoint_t *esp_matter_wrapper_add_on_off_switch(
+    esp_matter_node_t *node,
+    uint8_t            flags,
+    void              *priv_data)
+{
+    endpoint::on_off_switch::config_t cfg;
+    return endpoint::on_off_switch::create(node, &cfg, flags, priv_data);
+}
+
+extern "C" esp_matter_endpoint_t *esp_matter_wrapper_add_dimmable_light(
+    esp_matter_node_t *node,
+    uint8_t            flags,
+    void              *priv_data)
+{
+    endpoint::dimmable_light::config_t cfg;
+    return endpoint::dimmable_light::create(node, &cfg, flags, priv_data);
+}
+
+extern "C" esp_matter_endpoint_t *esp_matter_wrapper_add_color_temperature_light(
+    esp_matter_node_t *node,
+    uint8_t            flags,
+    void              *priv_data)
+{
+    endpoint::color_temperature_light::config_t cfg;
+    return endpoint::color_temperature_light::create(node, &cfg, flags, priv_data);
+}
+
+/* ── Cluster ──────────────────────────────────────────────────────────────── */
+
+extern "C" esp_matter_cluster_t *esp_matter_wrapper_cluster_create(
+    esp_matter_endpoint_t *ep,
+    uint32_t               cluster_id,
+    uint8_t                flags)
+{
+    return cluster::create(ep, cluster_id, flags);
+}
+
+/* ── Attribute ────────────────────────────────────────────────────────────── */
+
+extern "C" esp_matter_attribute_t *esp_matter_wrapper_attribute_create(
+    esp_matter_cluster_t  *cl,
+    uint32_t               attribute_id,
+    uint16_t               flags,
+    esp_matter_attr_val_t  val)
+{
+    return attribute::create(cl, attribute_id, flags, val);
+}
+
+extern "C" esp_err_t esp_matter_wrapper_attribute_update(
+    uint16_t               endpoint_id,
+    uint32_t               cluster_id,
+    uint32_t               attribute_id,
+    esp_matter_attr_val_t *val)
+{
+    return attribute::update(endpoint_id, cluster_id, attribute_id, val);
+}
+
+extern "C" esp_err_t esp_matter_wrapper_attribute_get_val(
+    esp_matter_attribute_t *attr,
+    esp_matter_attr_val_t  *val)
+{
+    return attribute::get_val(attr, val);
+}
+
+extern "C" esp_err_t esp_matter_wrapper_attribute_set_val(
+    esp_matter_attribute_t *attr,
+    esp_matter_attr_val_t  *val)
+{
+    return attribute::set_val(attr, val);
+}