feat(wdi): host role (WdiHost) — USB Host HID + BLE central - #792

Merged

finger563 merged 46 commits into

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Sep 13, 2026

Commits on Sep 12, 2026

feat(wdi): protocol core for the Wheelchair Digital Interface

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93e1cf6
feat(wdi): device role core (WdiDevice) with keepalive state machine

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bf58ca2
feat(wdi): build the HID report descriptor with hid-rp

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282488d
feat(wdi): bundle the protocol core into the host C++/Python library

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dc39a60
feat(wdi): BLE peripheral (device role) + example

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1c9030a
feat(wdi): USB HID device (device role) + example

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ea0d73f
feat(usb_host): espp::UsbHost (USB Host HID) component + example

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222a11c
Merge branch 'feat/usb-host' into feat/wdi-host
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50d5e31
feat(wdi): host role (WdiHost) over USB Host HID + BLE central

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d72b99c
fix(usb_host): address review feedback (teardown race, dangling span, buffers)

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3386006
fix(wdi): field-accurate HID descriptor, BLE HID-over-GATT, review fixes

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2b92ba3
Merge branch 'feat/wdi' into feat/wdi-host
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4221c04
fix(wdi): host-role review follow-ups (thread-safety, deps, docs)

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391580c
docs(wdi): correct the descriptor/BLE note in the README layering section

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95089ca
fix(wdi): null-check createCharacteristic() results in WdiBlePeripheral

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77224a1
fix(usb_host): use https for the repository URL in the manifest

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a0ab3c0
Merge branches 'feat/wdi' and 'feat/usb-host' into feat/wdi-host
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f2711d5
fix(wdi): WdiBleCentral re-entrancy + subscribe error handling

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5ad016d
fix(wdi): make WdiBlePeripheral::make_device_config const (functionConst)

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586758d
Merge branch 'feat/wdi' into feat/wdi-host
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4d5d0c2
fix(wdi): clear host-role static-analysis findings

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8958ec3
fix(usb_host): guard HidDevice ops on disconnect; refine error mapping

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2c20290
fix(wdi): clamp velocity tenths, py::bytes parse bindings, test comment

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7f9ab0a
Merge branch 'feat/wdi' into feat/wdi-host
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1f1efb4
Merge remote-tracking branch 'origin/feat/usb-host' into feat/wdi-host
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bb22d9a
fix(usb_host): run driver ops + user callbacks on a dispatch task (not the HID task)

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0583272
fix(wdi): WdiBlePeripheral::start() no longer calls the deprecated NimBLEService::start()

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edfe2fa
Merge remote-tracking branch 'origin/feat/usb-host' into feat/wdi-host
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b26b201
Merge remote-tracking branch 'origin/feat/wdi' into feat/wdi-host
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ce6904c
docs(usb_host): document the threading model (dispatch task, callback safety)

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b74ab0b
fix(wdi): host-role self-review — re-entrancy, BLE client lifetime, UAF, detection

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a4424ce
fix(wdi): suppress functionConst on the host wrappers' poll()/send_feedback()

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e6030b2
fix(wdi): include <algorithm> in wdi_usb_host.hpp (std::equal was transitive)

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2cbfd1f
fix(usb_host): address review round 3 (teardown safety, UTF-8, queue bound, typing)

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5a63dfd
fix(wdi): address review round 3 (scope wording, PyBytes check, CMake comment)

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edac021
Merge remote-tracking branches 'origin/feat/usb-host' and 'origin/feat/wdi' into feat/wdi-host
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bc9c219
chore(wdi): host role lands here — un-mark the "follow-up" wording; merge round-3 fixes

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048d3da
Merge origin/main (squash-merged #788/#789/#790) into feat/wdi-host

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101dfdd
fix(usb_host): address review round 4 (no const_cast, hard queue bound, teardown gate, no per-report alloc)

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c57fb55
Merge remote-tracking branch 'origin/feat/usb-host' into feat/wdi-host
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3fe73ad
ci(usb_host): publish the usb_host component to the component registry

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2dba38a
ci(wdi): publish the wdi component to the component registry

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4530d6d
fix(usb_host): address review round 5 (enqueue/teardown race, buffer reuse, doc snippets)

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d833ddf
Merge remote-tracking branch 'origin/feat/usb-host' into feat/wdi-host
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6c084a6
Merge remote-tracking branch 'origin/main' into feat/wdi-host
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21967a0
fix(wdi): host-testable WDI descriptor detection that skips HID long items

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28eb52d