## Protocol Stack
```
| Gobot-RPC |
| --------- |
| CAN-TP    |
| --------- |
| CAN       |
```

## Address (CAN-Address)

| Address | Node         |
| ------- | ------------ |
| `0x000` | Broadcast    |
| `0x010` | RPi          |
| `0x020` | X-Y-Controll |
| `0x030` | Head         |
| `0x040` | Vacume       |

## Gobot-RPC-Protocol
Package Length: max. 128

| Byte | Function |
| ---- | -------- |
| 0    | Header   |
| 1-n  | Data     |
#### Header
| Bit | Function                  |
| --- | ------------------------- |
| 0   | Type: Request or Response |
| 1-5 | RPC-ID                    |

### RPS

#### X-Y-Controller
| RPC-ID | RPC                 | Request           | Response          |
| ------ | ------------------- | ----------------- | ----------------- |
| `0x1`  | `cal()`             |                   | x: int32, y:int32 |
| `0x2`  | `goto()`            | x: int32, y:int32 |                   |
| `0x3`  | `goto_board()`      | x: int8, y: int8  |                   |
| `0x4`  | `home()`            |                   |                   |
| `0x5`  | `release()`         |                   |                   |
| `0x6`  | `set_board_param()` | see bellow        |                   |
```json
Board Parameters:
{
	front_margin_width: int32,
	front_margin_height: int32,
	width: int32,
	height: int32,
	width_field: int8,
	height_field: int8
}