Implemented RX on Node

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/node_interface/init.cpp

@@ -0,0 +1,66 @@
+#include "node_interface.hpp"
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include <string.h>
+
+static void rxTaskFn(void *pvParameters) {
+    GobotRPC_NI *ni = (GobotRPC_NI *)pvParameters;
+    ni->rxTask();
+}
+
+GobotRPC_NI::GobotRPC_NI(unsigned int core, QueueHandle_t txQueue, QueueHandle_t rxQueue) {
+    this->core = core;
+
+    this->txQueue = txQueue;
+    this->rxQueue = rxQueue;
+
+    this->onPackageRx = NULL;
+    this->onPackageRxArgs = NULL;
+
+    xTaskCreateAffinitySet(
+        rxTaskFn,
+        "GobotRPC_NI RX Task",
+        2048,
+        this,
+        4,
+        this->core,
+        &this->rxTaskHandle
+    );
+}
+
+void GobotRPC_NI::registerOnPackageRxCallback(onPackageRxCallback callback, void *context) {
+    this->onPackageRx = callback;
+    this->onPackageRxArgs = context;
+}
+
+void GobotRPC_NI::rxTask() {
+    while (true) {
+        GobotRPC_NI_Package_Transport package;
+        
+        if (xQueueReceive(this->rxQueue, &package, portMAX_DELAY) == pdTRUE) {    
+            GobotRPCHeaderInfo header = extractGobotRPCHeader(package.data);
+
+            if(this->onPackageRx != NULL) {
+                if (!checkCRC(package.data, header.len)) {
+                    volatile int a = 0;
+                    continue;
+                }
+
+                this->onPackageRx(
+                    onPackageRxArgs, 
+                    package.data + GobotRPC_Package_DATA_OFFSET, 
+                    header.len, header.type, header.number
+                );
+            }
+        }
+    }
+}
+
+void GobotRPC_NI::sendPackage(char *data, size_t len, GobotRPCTypes type, GobotRPCNumber number) {
+    GobotRPC_NI_Package_Transport package;
+    memcpy(package.data + GobotRPC_Package_DATA_OFFSET, data, len);
+    assembleGobotRPCHeader(package.data, number, type, len);
+    assembleCRC(package.data, len);
+    xQueueSend(this->txQueue, &package, portMAX_DELAY);
+}