Started with gobotrpc autogenerated parser and ctest (not working)

Started implementing cpp
generation
2025-01-19 11:45:41 +01:00 · 2025-01-12 15:57:29 +01:00 · 2025-01-12 14:53:37 +01:00 · 2025-01-12 00:16:00 +01:00 · 2024-10-03 19:53:27 +02:00 · 2024-09-28 19:54:29 +02:00
299 changed files with 50295 additions and 116 deletions
--- a/.gitignore
+++ b/.gitignore
--- a/.gitmodules
+++ b/.gitmodules
--- a/can-interface/.gitignore
+++ b/can-interface/.gitignore
--- a/can-interface/.vscode/settings.json
+++ b/can-interface/.vscode/settings.json
@@ -14,6 +14,8 @@
    "idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
    "idf.toolsPath": "/home/alexander/.espressif",
    "idf.flashType": "UART",
+    "idf.openOcdLaunchArgs": ["-c", "adapter_khz 1000"],
+    "idf.openOcdDebugLevel": 2,
    "files.associations": {
        "*.tcc": "cpp",
        "cstdint": "cpp",
@@ -24,6 +26,7 @@
        "regex": "cpp",
        "array": "cpp",
        "string": "cpp",
-        "span": "cpp"
+        "span": "cpp",
+        "cstring": "cpp"
    }
 }
--- a/can-interface/circuit/CanIntefacePerfboard.fzz
+++ b/can-interface/circuit/CanIntefacePerfboard.fzz
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm
@@ -0,0 +1 @@
+<!DOCTYPE HTML><html lang="en-US"> <head> <meta charset="UTF-8"> <meta http-equiv="refresh" content="0; url=https://www.snapeda.com/about/import/#"> <script type="text/javascript">window.location.href="https://www.snapeda.com/about/import/#" </script> <title>Page Redirection</title> </head> <body> If you are not redirected automatically, follow this <a href="https://www.snapeda.com/about/import/#">link to the import guide</a>. </body></html>
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-08_133537.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-08_133537.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_000642.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_000642.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_001228.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_001228.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_010429.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_010429.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_011347.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_011347.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-14_202426.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-14_202426.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_170909.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_170909.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_204011.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_204011.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-21_223757.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-21_223757.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_000501.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_000501.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_140231.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_140231.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-22_095043.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-22_095043.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-27_204815.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-27_204815.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch-bak
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch-bak
--- a/can-interface/circuit/gobot-can-interface/sym-lib-table
+++ b/can-interface/circuit/gobot-can-interface/sym-lib-table
@@ -0,0 +1,4 @@
+(sym_lib_table
+  (version 7)
+  (lib (name "ESP32-DEVKIT-V1")(type "KiCad")(uri "${KIPRJMOD}/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym")(options "")(descr ""))
+)
--- a/can-interface/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-28_225050.zip
+++ b/can-interface/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-28_225050.zip
--- a/can-interface/circuit/i2c-hub/i2c-hub.kicad_prl
+++ b/can-interface/circuit/i2c-hub/i2c-hub.kicad_prl
--- a/can-interface/circuit/i2c-hub/i2c-hub.kicad_pro
+++ b/can-interface/circuit/i2c-hub/i2c-hub.kicad_pro
--- a/can-interface/components/gobot_rpc
+++ b/can-interface/components/gobot_rpc
@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/common-libaries/gobot_rpc
--- a/can-interface/docs/Doxyfile
+++ b/can-interface/docs/Doxyfile
--- a/can-interface/docs/doxygen-awesome-css
+++ b/can-interface/docs/doxygen-awesome-css
--- a/can-interface/main/CMakeLists.txt
+++ b/can-interface/main/CMakeLists.txt
@@ -2,5 +2,6 @@ idf_component_register(SRCS "hello_world_main.cpp"
                    REQUIRES driver
                    REQUIRES mcp2521
                    REQUIRES mcp2521_hardware_interface
+                    REQUIRES gobot_rpc
                    REQUIRES spi_flash
                    INCLUDE_DIRS "")
--- a/can-interface/main/hello_world_main.cpp
+++ b/can-interface/main/hello_world_main.cpp
@@ -23,26 +23,43 @@

 #include "mcp2521.hpp"

-#define SPI_PIN_CS0 GPIO_NUM_5
 #define SPI_PIN_SCLK GPIO_NUM_18
 #define SPI_PIN_MISO GPIO_NUM_19
 #define SPI_PIN_MOSI GPIO_NUM_23
-#define CAN_INT_PIN GPIO_NUM_21

-#define EXTERNAL_TRIGGER GPIO_NUM_26
+#define SPI_PIN_CS0 GPIO_NUM_25
+#define SPI_PIN_CS1 GPIO_NUM_27

-void onRX(void *arg) {
+#define CAN_INT0_PIN GPIO_NUM_5
+#define CAN_INT1_PIN GPIO_NUM_26
+
+void onRX0(void *arg) {
    MCP2521 *mcp2521 = (MCP2521 *)arg;

    rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
    uint8_t data[8];

-    mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
+    //mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);

-    printf("RX: (%x) ", info.id);
-    for (int i = 0; i < info.length; i++) {
-        printf("%x ", data[i]);
+    printf("RX0: (%x) ", info.id);
+    //for (int i = 0; i < 8; i++) {
+    //    printf("%x ", data[i]);
+    //}
+    printf("\n");
 }
+
+void onRX1(void *arg) {
+    MCP2521 *mcp2521 = (MCP2521 *)arg;
+
+    rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
+    uint8_t data[8];
+
+    //mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
+    printf("RX1: (%x) ", info.id);
+    //for (int i = 0; i < 8; i++) {
+    //    printf("%x ", data[i]);
+    //}
+
    printf("\n");
 }

@@ -52,46 +69,58 @@ extern "C" void app_main() {
    const gpio_num_t LED_PIN = GPIO_NUM_2;
    gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);

-    gpio_set_direction(EXTERNAL_TRIGGER, GPIO_MODE_OUTPUT);
-    gpio_set_level(EXTERNAL_TRIGGER, true);
+    vTaskDelay(100 / portTICK_PERIOD_MS);
+    
+    MCP2521_HardwareHandleFactory_ESPBus mcp2521_hardware_factory(
+        VSPI_HOST,
+        SPI_PIN_MOSI,
+        SPI_PIN_MISO,
+        SPI_PIN_SCLK
+    );
+
+    MCP2521_HardwareHandle_ESPBus hardware_mcp2521_0 = mcp2521_hardware_factory.create(CAN_INT0_PIN, SPI_PIN_CS0);
+    MCP2521_HardwareHandle_ESPBus hardware_mcp2521_1 = mcp2521_hardware_factory.create(CAN_INT1_PIN, SPI_PIN_CS1);

    vTaskDelay(100 / portTICK_PERIOD_MS);

+    MCP2521 mcp2521_0(&hardware_mcp2521_0);
+    MCP2521 mcp2521_1(&hardware_mcp2521_1);

-    spi_bus_config_t spi_bus;
+    uint8_t data[8] = {0x1, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};

-    MCP2521_Hardware_Handle_ESP hardware_mcp2521(
-        VSPI_HOST,
-        &spi_bus,
-        SPI_PIN_MOSI,
-        SPI_PIN_MISO,
-        SPI_PIN_SCLK,
-        SPI_PIN_CS0,
-        CAN_INT_PIN
-    );
+    mcp2521_0.reset();
+    mcp2521_1.reset();
+    mcp2521_0.enable_interrupts(true, true, true, true, true, true, true, true);
+    mcp2521_1.enable_interrupts(true, true, true, true, true, true, true, true);

-    MCP2521 mcp2521(&hardware_mcp2521);
+    mcp2521_0.register_rx0_handler(onRX0, &mcp2521_0);
+    mcp2521_1.register_rx0_handler(onRX1, &mcp2521_1);
+    mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
+    mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
    
-    uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
+    mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
+    mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
    
-    gpio_set_level(EXTERNAL_TRIGGER, false);
-    mcp2521.reset();
-    mcp2521.enable_interrupts(true, true, true, true, true, true, true, true);
+    //printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
+    //printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));

-    mcp2521.register_rx0_handler(onRX, &mcp2521);
-    mcp2521.register_rx1_handler(onRX, &mcp2521);
-    mcp2521.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
+    vTaskDelay(20 / portTICK_PERIOD_MS);

-    vTaskDelay(3 / portTICK_PERIOD_MS);
+    mcp2521_1.prepare_tx(
+        MCP2521_TX_BUFFER::TXB0, 0x042, data, 8, false, false);
+    //mcp2521_1.prepare_tx(
+    //    MCP2521_TX_BUFFER::TXB0, 0x041, data, 4, false, false);

-    mcp2521.prepare_tx(
-        MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);

-    mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
+    vTaskDelay(20 / portTICK_PERIOD_MS);
+    mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
+    //vTaskDelay(10 / portTICK_PERIOD_MS);
+    //mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);

-    mcp2521.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
-    mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
+    //vTaskDelay(20 / portTICK_PERIOD_MS);

+    //mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x042, false);
+    //mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);

    vTaskDelay(20 / portTICK_PERIOD_MS);

@@ -100,6 +129,6 @@ extern "C" void app_main() {
        gpio_set_level(LED_PIN, flag);
        flag = !flag;

-        vTaskDelay(100 / portTICK_PERIOD_MS);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
    }
 }
--- a/can-interface/sdkconfig.old
+++ b/can-interface/sdkconfig.old
--- a/can-interface/session-setup
+++ b/can-interface/session-setup
@@ -0,0 +1,152 @@
+[General]
+decode_signals=2
+meta_objs=0
+views=1
+
+[D0]
+color=4291714048
+conv_options=0
+conversion_type=0
+enabled=true
+name=INT0
+
+[D1]
+color=4281623972
+conv_options=0
+conversion_type=0
+enabled=true
+name=CLK
+
+[D2]
+color=4281623972
+conv_options=0
+conversion_type=0
+enabled=true
+name=MOSI
+
+[D3]
+color=4281623972
+conv_options=0
+conversion_type=0
+enabled=true
+name=MISO
+
+[D4]
+color=4294277376
+conv_options=0
+conversion_type=0
+enabled=true
+name=CE0
+
+[D5]
+color=4279638298
+conv_options=0
+conversion_type=0
+enabled=true
+name=INT1
+
+[D6]
+color=4279638298
+conv_options=0
+conversion_type=0
+enabled=true
+name=CE1
+
+[D7]
+color=4285878395
+conv_options=0
+conversion_type=0
+enabled=true
+name=D7
+
+[decode_signal0]
+channel0\assigned_signal_name=CLK
+channel0\initial_pin_state=2
+channel0\name=CLK
+channel1\assigned_signal_name=MISO
+channel1\initial_pin_state=2
+channel1\name=MISO
+channel2\assigned_signal_name=MOSI
+channel2\initial_pin_state=2
+channel2\name=MOSI
+channel3\assigned_signal_name=CE0
+channel3\initial_pin_state=2
+channel3\name=CS#
+channels=4
+color=4294277376
+conv_options=0
+conversion_type=0
+decoder0\ann_class0\visible=true
+decoder0\ann_class1\visible=true
+decoder0\ann_class2\visible=true
+decoder0\ann_class3\visible=true
+decoder0\ann_class4\visible=true
+decoder0\ann_class5\visible=true
+decoder0\ann_class6\visible=true
+decoder0\id=spi
+decoder0\options=0
+decoder0\row0\visible=true
+decoder0\row1\visible=true
+decoder0\row2\visible=true
+decoder0\row3\visible=true
+decoder0\row4\visible=true
+decoder0\row5\visible=true
+decoder0\row6\visible=true
+decoder0\visible=true
+decoders=1
+enabled=true
+name=SPI0
+
+[decode_signal1]
+channel0\assigned_signal_name=CLK
+channel0\initial_pin_state=2
+channel0\name=CLK
+channel1\assigned_signal_name=MISO
+channel1\initial_pin_state=2
+channel1\name=MISO
+channel2\assigned_signal_name=MOSI
+channel2\initial_pin_state=2
+channel2\name=MOSI
+channel3\assigned_signal_name=CE1
+channel3\initial_pin_state=2
+channel3\name=CS#
+channels=4
+color=4279638298
+conv_options=0
+conversion_type=0
+decoder0\ann_class0\visible=true
+decoder0\ann_class1\visible=true
+decoder0\ann_class2\visible=true
+decoder0\ann_class3\visible=true
+decoder0\ann_class4\visible=true
+decoder0\ann_class5\visible=true
+decoder0\ann_class6\visible=true
+decoder0\id=spi
+decoder0\options=0
+decoder0\row0\visible=true
+decoder0\row1\visible=true
+decoder0\row2\visible=true
+decoder0\row3\visible=true
+decoder0\row4\visible=true
+decoder0\row5\visible=true
+decoder0\row6\visible=true
+decoder0\visible=true
+decoders=1
+enabled=true
+name=SPI1
+
+[view0]
+D0\trace_height=38
+D1\trace_height=38
+D2\trace_height=38
+D3\trace_height=38
+D4\trace_height=38
+D5\trace_height=38
+D6\trace_height=38
+D7\trace_height=38
+offset=22 serialization::archive 19 0 0 0 0 52315583 48568089 25582163 47181659 91047901 0 -8 1 0 6
+scale=0.0021854614351496547
+segment_display_mode=1
+splitter_state=@ByteArray(\0\0\0\xff\0\0\0\x1\0\0\0\x2\0\0\0Z\0\0\x5\xa2\x1\0\0\0\x1\x1\0\0\0\x1\0)
+v_offset=-10
+zero_offset=22 serialization::archive 19 0 0 0 0 0 0 0 0 0 0 0 0 0 6
--- a/common-libaries/gobot_rpc/CMakeLists.txt
+++ b/common-libaries/gobot_rpc/CMakeLists.txt
@@ -0,0 +1,10 @@
+idf_component_register(SRCS
+                        "gobot_rpc_sender.cpp"
+                        "gobot_rpc_receiver.cpp"
+                        "gobot_rpc_statemaschine.cpp"
+                        "gobot_rpc_numberMap.cpp"
+                        "gobot_rpc_transiver.cpp"
+                    REQUIRES mcp2521
+                    REQUIRES mcp2521_hardware_interface
+                    REQUIRES driver
+                    INCLUDE_DIRS "include")
--- a/common-libaries/gobot_rpc/gobot_rpc_numberMap.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_numberMap.cpp
@@ -0,0 +1,19 @@
+#include "gobot_rpc.hpp"
+#include "protocol_spec.hpp"
+#include <string.h>
+
+GobotRPCNumberMap::GobotRPCNumberMap() {
+    memset(rpc_number_map, 0xffffffff, 16);
+}
+
+GobotRPCNumberMap::~GobotRPCNumberMap() {
+
+}
+
+void GobotRPCNumberMap::set(RpcNum rpc_num, uint32_t id) {
+    rpc_number_map[(int)rpc_num] = id;
+}
+
+uint32_t GobotRPCNumberMap::get(RpcNum rpc_num) {
+    return rpc_number_map[(int)rpc_num];
+}
--- a/common-libaries/gobot_rpc/gobot_rpc_receiver.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_receiver.cpp
@@ -0,0 +1,43 @@
+#include <string.h>
+#include "gobot_rpc.hpp"
+#include "sm.hpp"
+#include "protocol_spec.hpp"
+
+#include "freertos/FreeRTOS.h"
+
+GobotRPCReciver::GobotRPCReciver(MCP2521 * can_interface) {
+    this->can_interface = can_interface;
+    this->state_mashine = GobotRPCStateMashine();
+
+    can_interface->register_rx0_handler(onRX0_GoboRPC, can_interface);
+}
+
+
+void onRX0_GoboRPC(void *arg) {
+    GobotRPCReciver *rpc_socket = (GobotRPCReciver *)arg;
+    rpc_socket->onRX();
+}
+
+void GobotRPCReciver::onRX() {
+    rx_info info = can_interface->get_rx_id(MCP2521_RX_BUFFER::RXB0);
+    uint8_t data[8];
+
+    can_interface->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
+
+    RPCFrame frame;
+    memcpy(((char *)data) + 1, (char *)frame.data, 7);
+    frame.header = (RPCHeader)(data[0]);
+
+    SMResult smResult;
+    state_mashine.submitFrame(&frame, &smResult);
+
+    if(smResult.done) {
+        
+    }
+}
+
+void GobotRPCReciver::registerOnDoneFrameHandler(GobotRPCHandler_t handler, void * arg) {
+    onDoneFrameHandler = handler;
+    argOnDoneFrameHandler = arg;
+}
+
--- a/common-libaries/gobot_rpc/gobot_rpc_sender.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_sender.cpp
--- a/common-libaries/gobot_rpc/gobot_rpc_statemaschine.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_statemaschine.cpp
@@ -0,0 +1,74 @@
+#include "sm.hpp"
+#include "protocol_spec.hpp"
+#include <string.h>
+
+GobotRPCStateMashine::GobotRPCStateMashine() {
+    memset(requestDataBuffer, 0, REQUEST_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
+    memset(responseDataBuffer, 0, RESPONSE_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
+    memset(errorDataBuffer, 0, RESPONSE_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
+
+    memset(requestSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
+    memset(responseSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
+    memset(errorSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
+
+    slotCounter = 0;
+    rpc_number_map = GobotRPCNumberMap();
+}
+
+void GobotRPCStateMashine::registerRPC(RpcNum rpc_num) {
+    rpc_number_map.set(rpc_num, slotCounter);
+    slotCounter = (slotCounter + 1) % SLOTS;
+}
+
+void GobotRPCStateMashine::submitFrame(RPCFrame * frame, SMResult * result) {
+    RpcNum rpcNum = (RpcNum)(frame->header.rpc_num);
+
+    result->done = false;
+    result->rpc_num = rpcNum;
+
+    if(rpcNum == RpcNum::INVALID)
+        return;
+
+    size_t slot = rpc_number_map.get(rpcNum);
+    if (slot == 0xffffffff)
+        return;
+
+    uint8_t segNum = frame->header.rpc_segement;
+
+    if(frame->header.error) {
+        memcpy(result->data, frame->data, 7);
+        errorSegmentArrivedFlags[slot] |= (1 << segNum);
+
+        result->done = true;
+        result->type = RPCPackageType::ERROR;
+
+    } else if(frame->header.response) {
+        memcpy(responseDataBuffer[slot] + segNum, frame->data, 7);
+        responseSegmentArrivedFlags[slot] |= (1 << segNum);
+        
+        uint8_t mask = SEGMENT_MASK_RESPONSE[(int)rpcNum];
+
+        if(((responseSegmentArrivedFlags[slot] & mask) ^ mask) == 0) {
+            responseSegmentArrivedFlags[slot] = 0;
+
+            result->done = true;
+            memcpy(result->data, responseDataBuffer[slot], 7*4);
+            result->type = RPCPackageType::RESPONSE;
+        }
+
+    } else {
+        memcpy(requestDataBuffer[slot] + segNum, frame->data, 7);
+        requestSegmentArrivedFlags[slot] |= (1 << segNum);
+        
+        uint8_t mask = SEGMENT_MASK_RESPONSE[(int)rpcNum];
+        
+        if(((requestSegmentArrivedFlags[slot] & mask) ^ mask) == 0) {
+            requestSegmentArrivedFlags[slot] = 0;
+
+            result->done = true;
+            memcpy(result->data, requestDataBuffer[slot], 7*4);
+            result->type = RPCPackageType::REQUEST;
+        }
+    }
+
+}
--- a/common-libaries/gobot_rpc/gobot_rpc_transiver.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_transiver.cpp
--- a/common-libaries/gobot_rpc/include/gobot_rpc.hpp
+++ b/common-libaries/gobot_rpc/include/gobot_rpc.hpp
@@ -0,0 +1,56 @@
+#pragma once
+#include "protocol_spec.hpp"
+#include "mcp2521.hpp"
+#include "sm.hpp"
+
+#include "freertos/FreeRTOS.h"
+
+
+
+typedef void (*GobotRPCHandler_t)(void *);
+typedef void (*GobotRPCFrameHandler)(void *, RPCFrame *);
+
+class GobotRPCReciver {
+protected:
+    MCP2521 * can_interface;
+    GobotRPCStateMashine state_mashine;
+
+    GobotRPCHandler_t onDoneFrameHandler;
+    void * argOnDoneFrameHandler;
+
+public:
+    GobotRPCReciver(MCP2521 * can_interface);
+    ~GobotRPCReciver();
+
+    void onRX();
+
+    void registerOnDoneFrameHandler(GobotRPCHandler_t handler, void * arg);
+};
+
+void onRX0_GoboRPC(void *arg);
+
+class GoboRPCTransiver {
+private:
+    MCP2521 * can_interface;
+    GobotRPCReciver rx;
+
+    GobotRPCHandler_t onRequestHandler;
+    GobotRPCHandler_t onResponseHandler;
+    GobotRPCHandler_t onResponseErrorHandler;
+
+    void * argOnRequestHandler;
+    void * argOnResponseHandler;
+    void * argOnResponseErrorHandler;
+
+
+
+public:
+    GoboRPCTransiver(MCP2521 * can_interface);
+    ~GoboRPCTransiver();
+
+    void send(RPCFrame * frame);
+
+    void registerOnRequestHandler(GobotRPCHandler_t handler, void * arg);
+    void registerOnResponseHandler(GobotRPCHandler_t handler, void * arg);
+    void registerOnResponseErrorHandler(GobotRPCHandler_t handler, void * arg);
+};
--- a/common-libaries/gobot_rpc/include/protocol_spec.hpp
+++ b/common-libaries/gobot_rpc/include/protocol_spec.hpp
@@ -0,0 +1,123 @@
+#pragma once
+#include <stdint.h>
+
+enum RpcNum {
+    Get_Info            = 0x0,
+    Home                = 0x1,
+    Move_Step           = 0x2,
+    Move_XY             = 0x3,
+    Set_Padding         = 0x4,
+    Release_Motors      = 0x5,
+    Drop_Stones         = 0x6,
+    Get_Stone_Status    = 0x7,
+    Mov_Z_Axis          = 0x8,
+    Set_Vacum           = 0x9,
+    INVALID             = 0xF,
+};
+
+struct RPCHeader {
+    unsigned char rpc_num : 4;
+    unsigned char response : 1;
+    unsigned char error : 1;
+    unsigned char rpc_segement : 1;
+};
+
+struct RPCFrame {
+    RPCHeader header;
+    uint8_t data[7];
+};
+
+enum RPC_Node_Type {
+    NODE_ALL        = 0x0,
+    NODE_CORE_XY    = 0x1,
+    NODE_HEAD       = 0x2,
+    NODE_VACUM      = 0x3,
+};
+
+// RPC Request and Response structures
+struct RPC_RES_Get_Info {
+    uint32_t can_address;
+    RPC_Node_Type node_type;
+    uint32_t status;
+    uint32_t error;
+};
+
+enum RPC_Home_Corner {
+    HOME_CORNER_0 = 0b00,
+    HOME_CORNER_1 = 0b01,
+    HOME_CORNER_2 = 0b10,
+    HOME_CORNER_3 = 0b11,
+};
+
+struct RPC_REQ_Home {
+    RPC_Home_Corner corner;
+};
+
+struct RPC_RES_Home {
+    uint32_t x;
+    uint32_t y;
+};
+
+struct RPC_REQ_Move_Step {
+    int32_t x;
+    int32_t y;
+};
+
+struct RPC_RES_Move_Step {
+    uint32_t x;
+    uint32_t y;
+};
+
+struct RPC_REQ_Set_Padding {
+    uint32_t c_1x;
+    uint32_t c_1y;
+    uint32_t c_2x;
+    uint32_t c_2y;
+    uint8_t n_x;
+    uint8_t n_y;
+};
+
+struct RPC_REQ_Move_Z_Axis {
+    bool up;
+};
+
+struct RPC_REQ_Set_Vacum {
+    bool on;
+};
+
+// Segment3, Segment2, Segment1, Segment0
+const uint8_t SEGMENT_MASK_REQUEST[16] = {
+    0b0001, // Get_Info
+    0b0001, // Home
+    0b0001, // Move_Step
+    0b0001, // Move_XY
+    0b0111, // Set_Padding
+    0b0001, // Release_Motors
+    0b0001, // Drop_Stones
+    0b0001, // Get_Stone_Status
+    0b0001, // Mov_Z_Axis
+    0b0001, // Set_Vacum
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+};
+
+const uint8_t SEGMENT_MASK_RESPONSE[16] = {
+    0b0001, // Get_Info
+    0b0001, // Home
+    0b0001, // Move_Step
+    0b0001, // Move_XY
+    0b0001, // Set_Padding
+    0b0001, // Release_Motors
+    0b0001, // Drop_Stones
+    0b0001, // Get_Stone_Status
+    0b0001, // Mov_Z_Axis
+    0b0001, // Set_Vacum
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+};
--- a/common-libaries/gobot_rpc/include/sm.hpp
+++ b/common-libaries/gobot_rpc/include/sm.hpp
@@ -0,0 +1,58 @@
+#pragma once
+#include <stdint.h>
+#include "protocol_spec.hpp"
+#include <strings.h>
+
+class GobotRPCNumberMap {
+private:
+    int32_t rpc_number_map[16];
+public:
+    GobotRPCNumberMap();
+    ~GobotRPCNumberMap();
+
+    void set(RpcNum rpc_num, uint32_t id);
+    uint32_t get(RpcNum rpc_num);
+};
+
+
+enum RPCPackageType {
+    REQUEST,
+    RESPONSE,
+    ERROR
+};
+
+struct SMResult {
+    bool done;
+    uint8_t data[7*4];
+    RpcNum rpc_num;
+    RPCPackageType type;
+};
+
+class GobotRPCStateMashine {
+private:
+    static const size_t SLOTS = 6;
+    static const size_t REQUEST_DATA_BUFFER_SIZE = 7*4;
+    static const size_t RESPONSE_DATA_BUFFER_SIZE = 7*4;
+
+
+    GobotRPCNumberMap rpc_number_map;
+    size_t slotCounter;
+
+    uint8_t requestDataBuffer[REQUEST_DATA_BUFFER_SIZE][SLOTS];
+    bool requestSegmentArrivedFlags [SLOTS];
+    
+    uint8_t responseDataBuffer[RESPONSE_DATA_BUFFER_SIZE][SLOTS];
+    uint8_t responseSegmentArrivedFlags [SLOTS];
+
+    uint8_t errorDataBuffer[RESPONSE_DATA_BUFFER_SIZE][SLOTS];
+    uint8_t errorSegmentArrivedFlags [SLOTS];
+
+public:
+    GobotRPCStateMashine();
+    ~GobotRPCStateMashine();
+
+    void registerRPC(RpcNum rpc_num);
+
+    void submitFrame(RPCFrame * frame, SMResult * result);
+
+};
--- a/common-libaries/mcp2521/docs/.$MCP2521_Libary_ClassDiagram.drawio.bkp
+++ b/common-libaries/mcp2521/docs/.$MCP2521_Libary_ClassDiagram.drawio.bkp
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--- a/common-libaries/mcp2521/docs/MCP2521_Libary_ClassDiagram.drawio
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+        <mxCell id="xzzxaMGRirp7Gwq30BhV-16" value="" style="endArrow=block;html=1;rounded=0;dashed=1;endFill=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" parent="1" source="xzzxaMGRirp7Gwq30BhV-9" target="xzzxaMGRirp7Gwq30BhV-1" edge="1">
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+          <mxGeometry relative="1" as="geometry">
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+            <mxPoint x="620" y="500" as="targetPoint" />
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+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>
--- a/common-libaries/mcp2521/include/mcp2521.hpp
+++ b/common-libaries/mcp2521/include/mcp2521.hpp
@@ -3,4 +3,5 @@
 #include "mcp2521_toplevel.hpp"
 #include "mcp2521_command.hpp"
 #include "mcp2521_hardware_esp.hpp"
+#include "mcp2521_hardware_esp_bus_factory.hpp"
 #include "mcp2521_addresses.hpp"
--- a/common-libaries/mcp2521/include/mcp2521_command.hpp
+++ b/common-libaries/mcp2521/include/mcp2521_command.hpp
@@ -40,9 +40,9 @@ struct rx_info {
    uint8_t length;
 };

-class MCP2521_Command_Interface {
+class MCP2521_CommandInterface {
 private:
-    MCP2521_Hardware_Handle * hardware_handle;
+    I_MCP2521_HardwareHandle * hardware_handle;

    intHandlerFunction_t rx0_handler;
    intHandlerFunction_t rx1_handler;
@@ -63,8 +63,8 @@ private:
    void * message_error_handler_arg;
 public:

-    MCP2521_Command_Interface(
-        MCP2521_Hardware_Handle * hardware_handle
+    MCP2521_CommandInterface(
+        I_MCP2521_HardwareHandle * hardware_handle
    );

    void handleInterrupt();
--- a/common-libaries/mcp2521/include/mcp2521_toplevel.hpp
+++ b/common-libaries/mcp2521/include/mcp2521_toplevel.hpp
@@ -5,7 +5,7 @@
 #include "mcp2521_command.hpp"
 #include "mcp2521_addresses.hpp"

-class MCP2521 : public MCP2521_Command_Interface {
+class MCP2521 : public MCP2521_CommandInterface {
    private:
    public:
        void set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended);
--- a/common-libaries/mcp2521/interface_commands.cpp
+++ b/common-libaries/mcp2521/interface_commands.cpp
@@ -4,12 +4,12 @@
 #include "mcp2521_addresses.hpp"

 void runIntHandler(void *arg) {
-    MCP2521_Command_Interface *command_interface = (MCP2521_Command_Interface *)arg;
+    MCP2521_CommandInterface *command_interface = (MCP2521_CommandInterface *)arg;
    command_interface->handleInterrupt();
 }

-MCP2521_Command_Interface::MCP2521_Command_Interface(
-    MCP2521_Hardware_Handle * hardware_handle
+MCP2521_CommandInterface::MCP2521_CommandInterface(
+    I_MCP2521_HardwareHandle * hardware_handle
 ) {
    this->hardware_handle = hardware_handle;
    this->hardware_handle->registerIntHandler(runIntHandler, (void *)this);
@@ -33,42 +33,42 @@ MCP2521_Command_Interface::MCP2521_Command_Interface(
    message_error_handler_arg = NULL;
 }

-void MCP2521_Command_Interface::reset() {
+void MCP2521_CommandInterface::reset() {
    hardware_handle->execute(MCP2521_OP_RESET);
 }

-void MCP2521_Command_Interface::read_reg(uint8_t address, uint8_t *data, size_t length) {
+void MCP2521_CommandInterface::read_reg(uint8_t address, uint8_t *data, size_t length) {
    hardware_handle->read(MCP2521_OP_READ, data, length, address);
 }

-uint8_t MCP2521_Command_Interface::read_reg(uint8_t address) {
+uint8_t MCP2521_CommandInterface::read_reg(uint8_t address) {
    return hardware_handle->read(MCP2521_OP_READ, address);
 }

-void MCP2521_Command_Interface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
+void MCP2521_CommandInterface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
    uint8_t address = (buffer << 1) | (type << 2);
    hardware_handle->read(MCP2521_OP_READ_RX_BUFFER | address, data, length);
 }

-void MCP2521_Command_Interface::write_reg(uint8_t address, uint8_t *data, size_t length) {
+void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t *data, size_t length) {
    hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
 }

-void MCP2521_Command_Interface::write_reg(uint8_t address, uint8_t data) {
+void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t data) {
    hardware_handle->write(MCP2521_OP_WRITE, data, address);
 }

-void MCP2521_Command_Interface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
+void MCP2521_CommandInterface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
    uint8_t address = (buffer << 1) | (type);
    hardware_handle->write(MCP2521_OP_LOAD_TX_BUFFER | address, data, length);
 }

-void MCP2521_Command_Interface::request_to_send(bool txb2, bool txb1, bool txb0) {
+void MCP2521_CommandInterface::request_to_send(bool txb2, bool txb1, bool txb0) {
    uint8_t data = (txb2 << 2) | (txb1 << 1) | txb0;
    hardware_handle->execute(MCP2521_OP_RTS | data);
 }

-void MCP2521_Command_Interface::request_to_send(MCP2521_TX_BUFFER buffer) {
+void MCP2521_CommandInterface::request_to_send(MCP2521_TX_BUFFER buffer) {
    uint8_t mask = 0;

    switch (buffer) {
@@ -86,15 +86,15 @@ void MCP2521_Command_Interface::request_to_send(MCP2521_TX_BUFFER buffer) {
    hardware_handle->execute(MCP2521_OP_RTS | mask);
 }

-uint8_t MCP2521_Command_Interface::read_status() {
+uint8_t MCP2521_CommandInterface::read_status() {
    return hardware_handle->read(MCP2521_OP_READ_STATUS);
 }

-uint8_t MCP2521_Command_Interface::read_rx_status() {
+uint8_t MCP2521_CommandInterface::read_rx_status() {
    return hardware_handle->read(MCP2521_OP_RX_STATUS);
 }

-void MCP2521_Command_Interface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
+void MCP2521_CommandInterface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
    uint8_t data_array[3] = {address, mask, data};
    hardware_handle->write(MCP2521_OP_BIT_MODIFY, data_array, 3);
 }
--- a/common-libaries/mcp2521/interface_interrupts.cpp
+++ b/common-libaries/mcp2521/interface_interrupts.cpp
@@ -1,47 +1,47 @@
 #include "mcp2521.hpp"
 #include "mcp2521_addresses.hpp"

-void MCP2521_Command_Interface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
    rx0_handler = handler;
    rx0_handler_arg = args;
 }

-void MCP2521_Command_Interface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
    rx1_handler = handler;
    rx1_handler_arg = args;
 }

-void MCP2521_Command_Interface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
    tx0_handler = handler;
    tx0_handler_arg = args;
 }

-void MCP2521_Command_Interface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
    tx1_handler = handler;
    tx1_handler_arg = args;
 }

-void MCP2521_Command_Interface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
    tx2_handler = handler;
    tx2_handler_arg = args;
 }

-void MCP2521_Command_Interface::register_error_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_error_handler(intHandlerFunction_t handler, void* args) {
    error_handler = handler;
    error_handler_arg = args;
 }

-void MCP2521_Command_Interface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
    wakeup_handler = handler;
    wakeup_handler_arg = args;
 }

-void MCP2521_Command_Interface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
    message_error_handler = handler;
    message_error_handler_arg = args;
 }

-void MCP2521_Command_Interface::handleInterrupt() {
+void MCP2521_CommandInterface::handleInterrupt() {
    uint8_t flags = read_reg(MCP2521_CANINTF);
    uint8_t clearBits = 0;

--- a/common-libaries/mcp2521_hardware_interface/CMakeLists.txt
+++ b/common-libaries/mcp2521_hardware_interface/CMakeLists.txt
@@ -1,5 +1,7 @@
 idf_component_register(SRCS "esp_implementation_init.cpp"
                            "esp_implementation_cmd.cpp"
                            "esp_implementation_int.cpp"
+                            "esp_implementation_bus.cpp"
+                            "esp_implementation_bus_factory.cpp"
                       INCLUDE_DIRS "include"
                       REQUIRES driver)
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_bus.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_bus.cpp
@@ -0,0 +1,58 @@
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+
+#include "mcp2521_hardware_esp_bus.hpp"
+#include "mcp2521_hardware_esp.hpp"
+
+MCP2521_HardwareHandle_ESPBus::MCP2521_HardwareHandle_ESPBus(
+        QueueHandle_t send_queue,
+        spi_host_device_t spi_host,
+        spi_bus_config_t * bus_config,
+        gpio_num_t cs, 
+        gpio_num_t int_pin
+) : MCP2521_HardwareHandle_ESP(spi_host, bus_config, cs, int_pin) {
+    this->send_queue = send_queue;
+    this->receive_queue = xQueueCreate(3, sizeof(spi_message_t));
+}
+
+void MCP2521_HardwareHandle_ESPBus::spi_transmit(spi_transaction_t *t) {
+    spi_message_t message = {
+        .transaction = t,
+        .queue = send_queue,
+        .spi_device_handle = spi_device_handle
+    };
+
+    xQueueSend(send_queue, &message, portMAX_DELAY);
+    xQueueReceive(receive_queue, &message, portMAX_DELAY);
+}
+
+void MCP2521_HardwareHandle_ESPBus::initPins(
+    gpio_num_t int_pin
+) {
+    canInterruptSemaphore = xSemaphoreCreateBinary();
+
+    gpio_config_t io_conf;
+    io_conf.intr_type = GPIO_INTR_NEGEDGE;
+    io_conf.mode = GPIO_MODE_INPUT;
+    io_conf.pin_bit_mask = 1 << int_pin;
+    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
+    io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
+    gpio_config(&io_conf);
+
+    gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
+
+    char taskName[32];
+    sprintf(taskName, "canInterruptTask_%d", int_pin);
+
+    xTaskCreatePinnedToCore(
+        (TaskFunction_t)&handleInteruptTaskCallerFn,
+        taskName,
+        2048,
+        this,
+        5,
+        &canInterruptTaskHandle,
+        0
+    );
+}
+
+#endif
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_bus_factory.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_bus_factory.cpp
@@ -0,0 +1,67 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+
+#include "mcp2521_hardware_esp_bus_factory.hpp"
+#include "mcp2521_hardware_esp_bus.hpp"
+#include "mcp2521_hardware_esp.hpp"
+
+void transactionTaskWrapperFn(void *pvParameters) {
+    MCP2521_HardwareHandleFactory_ESPBus *factory = (MCP2521_HardwareHandleFactory_ESPBus *)pvParameters;
+    factory->transactionTaskFn();
+
+}
+
+MCP2521_HardwareHandleFactory_ESPBus::MCP2521_HardwareHandleFactory_ESPBus(
+    spi_host_device_t spi_host,
+    gpio_num_t mosi, 
+    gpio_num_t miso, 
+    gpio_num_t sclk
+) {
+    this->spi_host = spi_host;
+    this->mosi = mosi;
+    this->miso = miso;
+    this->sclk = sclk;
+
+    
+    gpio_install_isr_service(0);
+
+    MCP2521_HardwareHandle_ESP::initSPIBus(spi_host, mosi, miso, sclk, &bus_config);
+    
+    spi_queue = xQueueCreate(12, sizeof(spi_message_t));
+    xTaskCreatePinnedToCore(
+        (TaskFunction_t)&transactionTaskWrapperFn,
+        "transactionTask",
+        2048,
+        this,
+        3,
+        &transactionTaskHandle,
+        0
+    );
+}
+
+void MCP2521_HardwareHandleFactory_ESPBus::transactionTaskFn() {
+    spi_message_t message;
+
+    while(true) {
+        xQueueReceive(spi_queue, &message, portMAX_DELAY);
+        spi_device_transmit(message.spi_device_handle, message.transaction);
+    }
+}
+
+MCP2521_HardwareHandle_ESPBus MCP2521_HardwareHandleFactory_ESPBus::create(
+    gpio_num_t int_pin,
+    gpio_num_t cs
+) {
+    return MCP2521_HardwareHandle_ESPBus(
+        spi_queue,
+        spi_host,
+        &bus_config,
+        cs,
+        int_pin
+    );
+}
+
+
+#endif
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp
@@ -5,13 +5,13 @@

 const uint8_t null_buffer[32] = {0};

-void MCP2521_Hardware_Handle_ESP::spi_transmit(spi_transaction_t *t) {
+void MCP2521_HardwareHandle_ESP::spi_transmit(spi_transaction_t *t) {
    xSemaphoreTake(spiMutex, portMAX_DELAY);
    spi_device_transmit(this->spi_device_handle, t);
    xSemaphoreGive(spiMutex);
 }

-void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd) {
+void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -30,7 +30,7 @@ void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd) {
    spi_transmit((spi_transaction_t*)(&t));
 }

-void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd, uint8_t address) {
+void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd, uint8_t address) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -49,7 +49,7 @@ void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd, uint8_t address) {
    spi_transmit((spi_transaction_t*)(&t));
 }

-void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
+void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -68,7 +68,7 @@ void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length
    spi_transmit((spi_transaction_t*)(&t));
 }

-void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length) {
+void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -76,7 +76,7 @@ void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length
            .addr = 0,
            .length = 8*length,
            .rxlength = 8*length,
-            .tx_buffer = NULL,
+            .tx_buffer = null_buffer,
            .rx_buffer = data
        },
        .command_bits = 8,
@@ -87,7 +87,7 @@ void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length
    spi_transmit((spi_transaction_t*)(&t));
 }

-uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t address) {
+uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t address) {
    uint8_t result = 0;
    spi_transaction_ext_t t = {
        .base = {
@@ -108,7 +108,7 @@ uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t address) {
    return result;
 }

-uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
+uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd) {
    uint8_t result;
    spi_transaction_ext_t t = {
        .base = {
@@ -129,7 +129,7 @@ uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
    return result;
 }

-void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
+void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
    uint8_t result;
    spi_transaction_ext_t t = {
        .base = {
@@ -149,7 +149,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t lengt
    spi_transmit((spi_transaction_t*)(&t));
 }

-void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length) {
+void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t *data, size_t length) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -168,7 +168,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t lengt
    spi_transmit((spi_transaction_t*)(&t));
 }

-void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data, uint8_t address) {
+void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t data, uint8_t address) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -187,7 +187,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data, uint8_t addre
    spi_transmit((spi_transaction_t*)(&t));
 }

-void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data) {
+void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t data) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_init.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_init.cpp
@@ -8,7 +8,7 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"

-MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
+MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
    spi_host_device_t spi_host,
    spi_bus_config_t *bus_config,
    gpio_num_t mosi, 
@@ -23,7 +23,7 @@ MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
    initSPIDevice(spi_host, cs);
 }

-MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
+MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
    spi_host_device_t spi_host,
    spi_bus_config_t *bus_config,
    gpio_num_t cs, 
@@ -34,11 +34,11 @@ MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
    initSPIDevice(spi_host, cs);
 }

-MCP2521_Hardware_Handle_ESP::~MCP2521_Hardware_Handle_ESP() {
+MCP2521_HardwareHandle_ESP::~MCP2521_HardwareHandle_ESP() {

 }

-void MCP2521_Hardware_Handle_ESP::initSPIBus(
+void MCP2521_HardwareHandle_ESP::initSPIBus(
    spi_host_device_t spi_host,
    gpio_num_t mosi, 
    gpio_num_t miso, 
@@ -57,7 +57,7 @@ void MCP2521_Hardware_Handle_ESP::initSPIBus(
    spi_bus_initialize(spi_host, bus_config, SPI_DMA_CH_AUTO);
 }

-void MCP2521_Hardware_Handle_ESP::initSPIDevice(
+void MCP2521_HardwareHandle_ESP::initSPIDevice(
    spi_host_device_t spi_host,
    gpio_num_t cs
 ) {
@@ -73,7 +73,7 @@ void MCP2521_Hardware_Handle_ESP::initSPIDevice(
        // Learned this the hard way
        .cs_ena_pretrans = 0,
        .cs_ena_posttrans = 0,
-        .clock_speed_hz = 10000,
+        .clock_speed_hz = 2000,

        .spics_io_num = cs,
        .flags = SPI_DEVICE_NO_DUMMY,
@@ -85,7 +85,7 @@ void MCP2521_Hardware_Handle_ESP::initSPIDevice(
    spiMutex = xSemaphoreCreateMutex();
 }

-spi_bus_config_t * MCP2521_Hardware_Handle_ESP::getSPI_bus_config() {
+spi_bus_config_t * MCP2521_HardwareHandle_ESP::getSPI_bus_config() {
    return this->spi_bus_config;
 }

--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp
@@ -6,16 +6,16 @@
 #include "mcp2521_hardware_esp.hpp"

 static void IRAM_ATTR gpio_isr_can_handler(void* arg) {
-    MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
+    MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
    handle->isr_can_interrupt();
 }

 static void handleInteruptTaskCallerFn(void *arg) {
-    MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
+    MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
    handle->handleIntteruptTaskFn();
 }

-void MCP2521_Hardware_Handle_ESP::initPins(
+void MCP2521_HardwareHandle_ESP::initPins(
    gpio_num_t int_pin
 ) {
    canInterruptSemaphore = xSemaphoreCreateBinary();
@@ -31,24 +31,25 @@ void MCP2521_Hardware_Handle_ESP::initPins(
    gpio_install_isr_service(0);
    gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);

-    xTaskCreate(
+    xTaskCreatePinnedToCore(
        (TaskFunction_t)&handleInteruptTaskCallerFn,
        "canInterruptTask",
        2048,
        this,
        5,
-        &canInterruptTaskHandle
+        &canInterruptTaskHandle,
+        0
    );
 }

-void MCP2521_Hardware_Handle_ESP::handleIntteruptTaskFn() {
+void MCP2521_HardwareHandle_ESP::handleIntteruptTaskFn() {
    while(true) {
        xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
        intHandler(intHandlerArg);
    }
 }

-void MCP2521_Hardware_Handle_ESP::isr_can_interrupt() {
+void MCP2521_HardwareHandle_ESP::isr_can_interrupt() {
    BaseType_t wokenTask = pdFALSE;
    xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);

@@ -57,7 +58,7 @@ void MCP2521_Hardware_Handle_ESP::isr_can_interrupt() {
    }
 }

-void MCP2521_Hardware_Handle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
+void MCP2521_HardwareHandle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
    intHandlerArg = arg;
    intHandler = handler;
 }
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp
@@ -1,3 +1,13 @@
+/**
+ * @file mcp2521_hardware_esp.hpp
+ * @author AlexanderHD27
+ * @brief 
+ * @version 0.1
+ * @date 2024-11-16
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
 #pragma once
 #include "mcp2521_hardware_handle.hpp"

@@ -8,24 +18,48 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"

-class MCP2521_Hardware_Handle_ESP : public MCP2521_Hardware_Handle {
-    char spi_tmp_buffer;
+static void handleInteruptTaskCallerFn(void *arg);
+static void IRAM_ATTR gpio_isr_can_handler(void* arg);

-    spi_bus_config_t * spi_bus_config;
-    spi_device_interface_config_t spi_device_config;
-    spi_device_handle_t spi_device_handle;
+/**
+ * @brief Hardware handle for MCP2521 over SPI on ESP32
+ * This is should not be used if multiple MCP2521 are on the same SPI bus
+ */
+class MCP2521_HardwareHandle_ESP : public I_MCP2521_HardwareHandle {
+protected:
+    void spi_transmit(spi_transaction_t *t);
    
+    /**
+     * @brief Sempahore, that is set every time the MCP2521 triggers an interrupt by the canInterruptTaskHandle
+     */
    SemaphoreHandle_t canInterruptSemaphore = NULL;
-    SemaphoreHandle_t spiMutex = NULL;
+
+
+    /**
+     * @brief Handle to task that handles the MCP2521 interrupt
+     * A Handle can be registered via the registerIntHandler method
+     */
    TaskHandle_t canInterruptTaskHandle = NULL;

-    void spi_transmit(spi_transaction_t *t);
+    spi_device_handle_t spi_device_handle;
+    
+private:
+    spi_bus_config_t * spi_bus_config;
+    char spi_tmp_buffer;
+    
+    spi_device_interface_config_t spi_device_config;
+
+    /**
+     * @brief Sempahore, that protects the SPI bus from being accessed by multiple tasks at the same time
+     * 
+     */
+    SemaphoreHandle_t spiMutex = NULL;

    void * intHandlerArg = NULL;
    intHandlerFunction_t intHandler = NULL;

 public:
-    MCP2521_Hardware_Handle_ESP(
+    MCP2521_HardwareHandle_ESP(
        spi_host_device_t spi_host,
        spi_bus_config_t *bus_config,
        gpio_num_t mosi, 
@@ -35,7 +69,7 @@ public:
        gpio_num_t int_pin
    );

-    MCP2521_Hardware_Handle_ESP(
+    MCP2521_HardwareHandle_ESP(
        spi_host_device_t spi_host,
        spi_bus_config_t *bus_config,
        gpio_num_t cs, 
@@ -59,12 +93,22 @@ public:
        gpio_num_t int_pin
    );

-    ~MCP2521_Hardware_Handle_ESP();
+    ~MCP2521_HardwareHandle_ESP();

    spi_bus_config_t * getSPI_bus_config();

    // ISR Stuff
+    /**
+     * @brief This function is called by the ISR, that is triggered by the MCP2521
+     * This function just set the canInterruptSemaphore, that then unblocks the canInterruptTaskHandle.
+     * So this function should be as short as possible, let the reset of the work be done in the canInterruptTaskHandle
+     */
    void isr_can_interrupt();
+
+    /**
+     * This is the methode run as canInterruptTaskHandle.
+     * It should continously aquire the canInterruptSemaphore and then call the intHandler
+     */
    void handleIntteruptTaskFn();

    // Inherited from MCP2521_Hardware_Handle
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus.hpp
@@ -0,0 +1,46 @@
+#pragma once
+
+#include "mcp2521_hardware_esp.hpp"
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+struct spi_message_t {
+    spi_transaction_t *transaction;
+    QueueHandle_t queue;
+    spi_device_handle_t spi_device_handle;
+};
+
+/**
+ * @brief Hardware handle for MCP2521 over SPI in a multi-Bus-Setup on ESP32 
+ * This should not be created directly, use the MCP2521_HardwareHandleFactory_ESPBus instead
+ */
+class MCP2521_HardwareHandle_ESPBus : public MCP2521_HardwareHandle_ESP {
+    using MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP;
+private:
+    QueueHandle_t send_queue;
+    QueueHandle_t receive_queue;
+
+    /**
+     * @brief Wrapper around the spi_transmit function, that locks the spiMutex before calling spi_transmit.
+     * The muxtex is shared with all other MCP2521_HardwareHandle_ESPBus instances created by the same MCP2521_HardwareHandleFactory_ESPBus
+     * @overload
+     * 
+     * @param t ESP32 SPI Transaction struct
+     */
+    void spi_transmit(spi_transaction_t *t);
+public:
+    MCP2521_HardwareHandle_ESPBus(
+        QueueHandle_t send_queue,
+        spi_host_device_t spi_host,
+        spi_bus_config_t * bus_config,
+        gpio_num_t cs, 
+        gpio_num_t int_pin
+    );
+
+    void initPins(
+        gpio_num_t int_pin
+    );
+};
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus_factory.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus_factory.hpp
@@ -0,0 +1,41 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include "mcp2521_hardware_handle.hpp"
+#include "mcp2521_hardware_esp_bus.hpp"
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+
+class MCP2521_HardwareHandleFactory_ESPBus {
+private:
+    spi_bus_config_t bus_config;
+    spi_host_device_t spi_host;
+
+    gpio_num_t mosi; 
+    gpio_num_t miso;
+    gpio_num_t sclk;
+
+    QueueHandle_t spi_queue;
+    TaskHandle_t transactionTaskHandle;
+
+public:
+    MCP2521_HardwareHandleFactory_ESPBus(
+        spi_host_device_t spi_host,
+        gpio_num_t mosi, 
+        gpio_num_t miso, 
+        gpio_num_t sclk
+    );
+
+    void transactionTaskFn();
+
+    MCP2521_HardwareHandle_ESPBus create(
+        gpio_num_t int_pin,
+        gpio_num_t cs
+    );
+};
+
+#endif
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp
@@ -2,23 +2,118 @@
 #include <cstdint>
 #include <strings.h>

+/**
+ * @brief Handler function pointer type
+ * 
+ */
 typedef void (*intHandlerFunction_t)(void *); 

-class MCP2521_Hardware_Handle {
+/**
+ * @brief Hardware handle for MCP2521
+ * @interface
+ * This is an abstraction over the sepific hardware setup, eg. SPI@ESP32 or RP2040
+ * 
+ */
+class I_MCP2521_HardwareHandle {
 public:
+    /**
+     * @brief Registeres a function that is called when the MCP2521 triggers an interrupt
+     * 
+     * @param handler This function is called when the MCP2521 triggers an interrupt
+     * @param arg Arguments passed to the handler-function
+     */
    virtual void registerIntHandler(intHandlerFunction_t handler, void * arg) = 0;

+    /**
+     * @overload
+     * @brief justed sends a 8bit command to the MCP2521
+     * 
+     * @param cmd command to send
+     */
    virtual void execute(uint8_t cmd) = 0;
+
+    /**
+     * @overload
+     * @brief executes a command (8 bit) with an address (8 bit)
+     * 
+     * @param cmd 8 bit command
+     * @param address 8 bit address
+     */
    virtual void execute(uint8_t cmd, uint8_t address) = 0;

+    /**
+     * 
+     * @brief Executes a read from the MCP2521 with command, data buffer, length and address
+     * @overload
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to store the read data
+     * @param length How many bytes to read
+     * @param address Address to read from
+     */
    virtual void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
+
+    /**
+     * @brief Executes a read from the MCP2521 with command, data buffer and length
+     * @overload
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to store the read data
+     * @param length How many bytes to read
+     */
    virtual void read(uint8_t cmd, uint8_t *data, size_t length) = 0;
+    
+    /**
+     * @brief Executes a read from the MCP2521 with command and address, returns just one byte
+     * 
+     * @param cmd Command to MCP2521
+     * @param address Address to read from
+     * @return uint8_t 
+     */
    virtual uint8_t read(uint8_t cmd, uint8_t address) = 0;
+    
+    /**
+     * @brief Executes a read from the MCP2521 with command, returns just one byte
+     * 
+     * @param cmd Command to MCP2521
+     * @return uint8_t 
+     */
    virtual uint8_t read(uint8_t cmd) = 0;
    
+    /**
+     * @brief Writes data to the MCP2521 with command, data buffer, length and address
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to write
+     * @param length Length of the data buffer
+     * @param address Where to write the data
+     */
    virtual void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
+    
+    /**
+     * @brief Wirites data to the MCP2521 with command, data buffer and length
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to write
+     * @param length Length of the data buffer
+     */
    virtual void write(uint8_t cmd, uint8_t *data, size_t length) = 0;
+    
+    /**
+     * @brief Writes data to the MCP2521 with command, data (on byte) and address
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data byte to write
+     * @param address Where to write the data
+     */
    virtual void write(uint8_t cmd, uint8_t data, uint8_t address) = 0;
+    
+    /**
+     * @brief Writes to the MCP2521 with command and data (one byte)
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data byte to write
+     */
    virtual void write(uint8_t cmd, uint8_t data) = 0;
 };

--- a/gobotrpc/.gitignore
+++ b/gobotrpc/.gitignore
--- a/gobotrpc/.vscode/tasks.json
+++ b/gobotrpc/.vscode/tasks.json
@@ -0,0 +1,22 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "taskName": "Run Main",
+            "command": "python3 generator/main.py",
+            "type": "shell",
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "presentation": {
+                "reveal": "always",
+                "panel": "dedicated",
+                "focus": true,
+                "clear": true
+            },
+        },
+    ]
+}
--- a/gobotrpc/docs/Gobot
+++ b/gobotrpc/docs/Gobot
--- a/gobotrpc/generator/main.py
+++ b/gobotrpc/generator/main.py
--- a/gobotrpc/generator/src/init.py
+++ b/gobotrpc/generator/src/init.py
--- a/gobotrpc/generator/src/backend/init.py
+++ b/gobotrpc/generator/src/backend/init.py
--- a/gobotrpc/generator/src/backend/cpp/converter.py
+++ b/gobotrpc/generator/src/backend/cpp/converter.py
--- a/gobotrpc/generator/src/backend/cpp/render.py
+++ b/gobotrpc/generator/src/backend/cpp/render.py
--- a/gobotrpc/generator/src/defintion_input.py
+++ b/gobotrpc/generator/src/defintion_input.py
--- a/gobotrpc/generator/src/odf_source.py
+++ b/gobotrpc/generator/src/odf_source.py
--- a/gobotrpc/generator/src/util.py
+++ b/gobotrpc/generator/src/util.py
--- a/gobotrpc/generator/templates/CMakeLists.txt.j2
+++ b/gobotrpc/generator/templates/CMakeLists.txt.j2
@@ -0,0 +1,13 @@
+add_libary(gobotrpc STATIC)
+
+target_sources(gobotrpc
+    PRIVATE
+        {%- for n in cpp_files %}
+        {{ n }}
+        {%- endfor %}
+)
+
+target_include_directories(gobotrpc
+    PUBLIC
+        include
+)
--- a/gobotrpc/generator/templates/enum_template.hpp.j2
+++ b/gobotrpc/generator/templates/enum_template.hpp.j2
@@ -0,0 +1,12 @@
+#pragma once
+/**
+ * This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
+ */
+
+{% for enum in enum_list -%}
+enum class {{ enum.name }} {{ "{" }}
+{% for key in enum.map -%}
+{{ "\t" }}{{ key }} = {{ enum.map[key] }},
+{% endfor %}{{ "}" }};
+
+{% endfor %}
--- a/gobotrpc/generator/templates/package_struct_template.hpp.j2
+++ b/gobotrpc/generator/templates/package_struct_template.hpp.j2
@@ -0,0 +1,29 @@
+#pragma once
+/**
+ * This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
+ */
+
+#include {{ "<stdint.h>" }}
+#include "{{ enum_header_file }}"
+
+enum {{ prefix }}RPCNames {{"{"}}
+{%- for n in rpcNames %}
+    {{ n }} = {{ rpcNames[n] }}, 
+{%- endfor %}
+{{"}"}};
+
+enum {{ prefix }}RPCTypes {{"{"}}
+{%- for n in rpcTypes %}
+    {{ n }} = {{ rpcTypes[n] }},
+{%- endfor %}
+{{"}"}};
+
+int getPackageSize(uint8_t data);
+
+{% for struct in package_list  %}
+struct {{ struct.name }} {{ "{" }}
+{% for field in struct.fields -%}
+{{ "\t" }}{{ field.type }} {{ field.name }} : {{ field.size_bits }};
+{% endfor -%}
+{{ "}" }};
+{% endfor %}
--- a/gobotrpc/generator/templates/package_util.cpp.j2
+++ b/gobotrpc/generator/templates/package_util.cpp.j2
@@ -0,0 +1,20 @@
+#pragma once
+/**
+ * This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
+ */
+
+#include {{ "<stdint.h>" }}
+{%- for h in headers %}
+#include {{ "\"" + h + "\"" }}
+{%- endfor %}
+
+int getPackageSize(uint8_t data) {
+    switch(data) {
+        {%- for n in rpcSizes %}
+        case {{ prefix }}RPCNames::{{ n }}:
+            return {{ rpcSizes[n] }};
+        {%- endfor %}
+        default:
+            return -1;
+    }
+};
--- a/gobotrpc/out/cpp/.vscode/tasks.json
+++ b/gobotrpc/out/cpp/.vscode/tasks.json
@@ -0,0 +1,25 @@
+{
+	"version": "2.0.0",
+	"tasks": [
+		{
+			"type": "cmake",
+			"label": "CMake: build",
+			"command": "build",
+			"targets": [
+				"all"
+			],
+			"group": "build",
+			"problemMatcher": [],
+			"detail": "CMake template build task",
+			"presentation": {
+				"echo": true,
+				"reveal": "always",
+				"focus": false,
+				"panel": "dedicated",
+				"showReuseMessage": true,
+				"clear": true
+			}
+		},
+		
+	]
+}
--- a/gobotrpc/out/cpp/CMakeLists.txt
+++ b/gobotrpc/out/cpp/CMakeLists.txt
@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.28.3)
+project(TestingGobotRPCParser)
+
+
+# GoogleTest requires at least C++23
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Adding gtest
+include(FetchContent)
+FetchContent_Declare(
+  googletest
+  gcov
+  URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
+)
+
+FetchContent_MakeAvailable(googletest)
+
+add_executable(TestingGobotRPCParser test/main.cpp)
+target_link_libraries(TestingGobotRPCParser gtest_main)
--- a/gobotrpc/out/cpp/cov.info
+++ b/gobotrpc/out/cpp/cov.info
--- a/gobotrpc/out/cpp/gobotrpc.cmake
+++ b/gobotrpc/out/cpp/gobotrpc.cmake
@@ -0,0 +1,11 @@
+add_libary(gobotrpc STATIC)
+
+target_sources(gobotrpc
+    PRIVATE
+        src/package_util.cpp
+)
+
+target_include_directories(gobotrpc
+    PUBLIC
+        include
+)
--- a/gobotrpc/out/cpp/include/enums.hpp
+++ b/gobotrpc/out/cpp/include/enums.hpp
@@ -0,0 +1,33 @@
+#pragma once
+/**
+ * This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
+ */
+
+enum class GOBOTRPC_ENUM_NodeType {
+	kHub = 0,
+	kHead = 1,
+	kCorexy = 2,
+	kVacun = 3,
+};
+
+enum class GOBOTRPC_ENUM_NodeStatus {
+	kReady = 0,
+	kWorking = 1,
+	kBusy = 2,
+	kError = 3,
+};
+
+enum class GOBOTRPC_ENUM_ErrorCode {
+};
+
+enum class GOBOTRPC_ENUM_HeadPos {
+	kUp = 0,
+	kDown = 1,
+};
+
+enum class GOBOTRPC_ENUM_StoneStatus {
+	kEmpty = 0,
+	kLow = 1,
+	kFill = 2,
+};
+
--- a/gobotrpc/out/cpp/include/package_structs.hpp
+++ b/gobotrpc/out/cpp/include/package_structs.hpp
@@ -0,0 +1,127 @@
+#pragma once
+/**
+ * This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
+ */
+
+#include <stdint.h>
+#include "enums.hpp"
+
+enum GOBOTRPC_RPCNames {
+    kInvalid = 255,
+    kGetInfo = 1,
+    kReset = 2,
+    kResetInfo = 3,
+    kStatusUpdate = 4,
+    kError = 5,
+    kHome = 7,
+    kGoto = 9,
+    kSetBoardCorner = 11,
+    kSetVacumOffset = 13,
+    kReleaseMotors = 15,
+    kDrop = 17,
+    kStoneStatus = 19,
+    kMoveZAxis = 21,
+    kSetVacum = 23,
+};
+
+enum GOBOTRPC_RPCTypes {
+    kReq = 0,
+    kRes = 1,
+};
+
+int getPackageSize(uint8_t data);
+
+
+struct GOBOTRPC_GetInfoReq {
+};
+
+struct GOBOTRPC_GetInfoRes {
+	int32_t addr : 32;
+	GOBOTRPC_ENUM_NodeType type : 8;
+	GOBOTRPC_ENUM_NodeStatus status : 8;
+};
+
+struct GOBOTRPC_ResetReq {
+};
+
+struct GOBOTRPC_ResetInfoRes {
+	GOBOTRPC_ENUM_NodeStatus status : 8;
+};
+
+struct GOBOTRPC_StatusUpdateRes {
+	GOBOTRPC_ENUM_NodeStatus status : 8;
+};
+
+struct GOBOTRPC_ErrorRes {
+	GOBOTRPC_ENUM_ErrorCode error : 8;
+};
+
+struct GOBOTRPC_HomeReq {
+};
+
+struct GOBOTRPC_HomeRes {
+	int32_t x : 32;
+	int32_t y : 32;
+};
+
+struct GOBOTRPC_GotoReq {
+	int8_t x : 8;
+	int8_t y : 8;
+	bool offset : 8;
+};
+
+struct GOBOTRPC_GotoRes {
+};
+
+struct GOBOTRPC_SetBoardCornerReq {
+	int32_t x1 : 32;
+	int32_t y1 : 32;
+	int32_t x2 : 32;
+	int32_t y2 : 32;
+};
+
+struct GOBOTRPC_SetBoardCornerRes {
+};
+
+struct GOBOTRPC_SetVacumOffsetReq {
+	int32_t x : 32;
+	int32_t y : 32;
+};
+
+struct GOBOTRPC_SetVacumOffsetRes {
+};
+
+struct GOBOTRPC_ReleaseMotorsReq {
+	bool enable : 8;
+};
+
+struct GOBOTRPC_ReleaseMotorsRes {
+};
+
+struct GOBOTRPC_DropReq {
+};
+
+struct GOBOTRPC_DropRes {
+	GOBOTRPC_ENUM_StoneStatus status : 8;
+};
+
+struct GOBOTRPC_StoneStatusReq {
+};
+
+struct GOBOTRPC_StoneStatusRes {
+	GOBOTRPC_ENUM_StoneStatus status : 8;
+};
+
+struct GOBOTRPC_MoveZAxisReq {
+	GOBOTRPC_ENUM_HeadPos pos : 8;
+};
+
+struct GOBOTRPC_MoveZAxisRes {
+};
+
+struct GOBOTRPC_SetVacumReq {
+	bool enable : 8;
+};
+
+struct GOBOTRPC_SetVacumRes {
+};
--- a/gobotrpc/out/cpp/src/package_util.cpp
+++ b/gobotrpc/out/cpp/src/package_util.cpp
@@ -0,0 +1,63 @@
+#pragma once
+/**
+ * This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
+ */
+
+#include <stdint.h>
+#include "package_structs.hpp"
+#include "enums.hpp"
+
+int getPackageSize(uint8_t data) {
+    switch(data) {
+        case RPCNames::GOBOTRPC_GetInfoReq:
+            return 0;
+        case RPCNames::GOBOTRPC_GetInfoRes:
+            return 6;
+        case RPCNames::GOBOTRPC_ResetReq:
+            return 0;
+        case RPCNames::GOBOTRPC_ResetInfoRes:
+            return 1;
+        case RPCNames::GOBOTRPC_StatusUpdateRes:
+            return 1;
+        case RPCNames::GOBOTRPC_ErrorRes:
+            return 1;
+        case RPCNames::GOBOTRPC_HomeReq:
+            return 0;
+        case RPCNames::GOBOTRPC_HomeRes:
+            return 8;
+        case RPCNames::GOBOTRPC_GotoReq:
+            return 3;
+        case RPCNames::GOBOTRPC_GotoRes:
+            return 0;
+        case RPCNames::GOBOTRPC_SetBoardCornerReq:
+            return 16;
+        case RPCNames::GOBOTRPC_SetBoardCornerRes:
+            return 0;
+        case RPCNames::GOBOTRPC_SetVacumOffsetReq:
+            return 8;
+        case RPCNames::GOBOTRPC_SetVacumOffsetRes:
+            return 0;
+        case RPCNames::GOBOTRPC_ReleaseMotorsReq:
+            return 1;
+        case RPCNames::GOBOTRPC_ReleaseMotorsRes:
+            return 0;
+        case RPCNames::GOBOTRPC_DropReq:
+            return 0;
+        case RPCNames::GOBOTRPC_DropRes:
+            return 1;
+        case RPCNames::GOBOTRPC_StoneStatusReq:
+            return 0;
+        case RPCNames::GOBOTRPC_StoneStatusRes:
+            return 1;
+        case RPCNames::GOBOTRPC_MoveZAxisReq:
+            return 1;
+        case RPCNames::GOBOTRPC_MoveZAxisRes:
+            return 0;
+        case RPCNames::GOBOTRPC_SetVacumReq:
+            return 1;
+        case RPCNames::GOBOTRPC_SetVacumRes:
+            return 0;
+        default:
+            return -1;
+    }
+};
--- a/gobotrpc/out/cpp/test/main.cpp
+++ b/gobotrpc/out/cpp/test/main.cpp
@@ -0,0 +1,14 @@
+#include <gtest/gtest.h>
+
+TEST(DummyTest, BasicAssertions) {
+// Expect two strings not to be equal.
+EXPECT_STRNE("hello", "world");
+// Expect equality.
+EXPECT_EQ(7 * 6, 42);
+}
+
+
+int main(int argc, char * argv[]) {
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}
--- a/gobotrpc/requirements.txt
+++ b/gobotrpc/requirements.txt
@@ -0,0 +1,9 @@
+defusedxml==0.7.1
+ezodf==0.3.2
+Jinja2==3.1.5
+lxml==5.3.0
+MarkupSafe==3.0.2
+mkl-service==2.4.0
+odfpy==1.4.1
+setuptools==75.1.0
+wheel==0.44.0
--- a/i2c-hub/asd
+++ b/i2c-hub/asd
--- a/i2c-hub/backend/Protocol.md
+++ b/i2c-hub/backend/Protocol.md
--- a/i2c-hub/backend/src/gobotRPC_ctrl_interface.py
+++ b/i2c-hub/backend/src/gobotRPC_ctrl_interface.py
--- a/i2c-hub/backend/src/main.py
+++ b/i2c-hub/backend/src/main.py
--- a/i2c-hub/backend/test.txt
+++ b/i2c-hub/backend/test.txt
@@ -0,0 +1,9 @@
+fe fe fe fe fc 10 10 10 20 ff 48 65 6c 6c 6f 20
+6f 72 6c 64 21 0a 84 00 01 00 42 00 00 00 12
+00 00 00 c0 84 01 01 01 43 00 00 00 22 00 00
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+54 68 69 73 20 69 73 20 52 61 6e 64 6f 6d 20
+65 78 74 0a 84 01 01 02 43 00 00 00 63 00 00
+3f 00 84 01 01 00 42 00 00 00 73 00 00 00 bf
+81 10 40 42 00 00 00 01 02 03 04 05 06 00 11
+13 14 fe fe fe fe fe fe fc
--- a/i2c-hub/circuit/.$I2CHubCircuit.drawio.bkp
+++ b/i2c-hub/circuit/.$I2CHubCircuit.drawio.bkp
@@ -0,0 +1,372 @@
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--- a/i2c-hub/circuit/external/KiCad-RP-Pico
+++ b/i2c-hub/circuit/external/KiCad-RP-Pico
--- a/i2c-hub/circuit/external/RP_Silicon_KiCad
+++ b/i2c-hub/circuit/external/RP_Silicon_KiCad
--- a/i2c-hub/circuit/i2c-hub/#auto_saved_files#
+++ b/i2c-hub/circuit/i2c-hub/#auto_saved_files#
@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch
--- a/i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch
+++ b/i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch
--- a/i2c-hub/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-30_211118.zip
+++ b/i2c-hub/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-30_211118.zip
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
AlexanderHD27	33d3dc0608	Started with gobotrpc autogenerated parser and ctest (not working)	2025-01-19 11:45:41 +01:00
AlexanderHD27	346e6a52b7	Started implementing cpp generation	2025-01-12 15:57:29 +01:00
AlexanderHD27	33e7f4afac	Implemented basic parser from .ods into internal format	2025-01-12 14:53:37 +01:00
AlexanderHD27	b5c7e5b4c1	Merged i2c-helper in Main	2025-01-12 00:16:00 +01:00
AlexanderHD27	f4792de050	Added Kicad Backups 2 gitignore	2024-10-03 19:53:27 +02:00
AlexanderHD27	48fded7981	Added files from Pico sdk to gitignore	2024-09-28 19:54:29 +02:00
AlexanderHD27	ec5e5cbf13	Create Marker for position Calibration	2024-09-14 21:09:50 +02:00
AlexanderHD27	58d31964b2	Upgrade to pico SDK 2.0.0	2024-09-13 22:15:15 +02:00
				`@@ -0,0 +1 @@`
				`<!DOCTYPE HTML><html lang="en-US"> <head> <meta charset="UTF-8"> <meta http-equiv="refresh" content="0; url=https://www.snapeda.com/about/import/#"> <script type="text/javascript">window.location.href="https://www.snapeda.com/about/import/#" </script> <title>Page Redirection</title> </head> <body> If you are not redirected automatically, follow this <a href="https://www.snapeda.com/about/import/#">link to the import guide</a>. </body></html>`
				`@@ -0,0 +1 @@`
				`/home/alexander/Projects/gobot/common-libaries/gobot_rpc`
				`@@ -0,0 +1 @@`
				`/home/alexander/Projects/gobot/i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch`