diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/CMakeLists.txt b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/CMakeLists.txt
new file mode 100644
index 0000000..574f6cb
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/CMakeLists.txt
@@ -0,0 +1,5 @@
+cmake_minimum_required(VERSION 3.28)
+project(librmcs_wrapper VERSION 3 LANGUAGES C CXX)
+set(LIBRMCS_PROJECT_VERSION "3.0.1-0.dev.4.gbaf538b")
+set(LIBRMCS_DEBIAN_VERSION "3.0.1~0.dev.4.gbaf538b")
+add_subdirectory(host)
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/CMakePresets.json b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/CMakePresets.json
new file mode 100644
index 0000000..a5bc2fa
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/CMakePresets.json
@@ -0,0 +1,6 @@
+{
+    "version": 4,
+    "include": [
+        "host/CMakePresets.json"
+    ]
+}
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/LICENSE b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/LICENSE
new file mode 100644
index 0000000..f288702
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/LICENSE
@@ -0,0 +1,674 @@
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+the GNU General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+  Each version is given a distinguishing version number.  If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/include/librmcs/data/datas.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/include/librmcs/data/datas.hpp
new file mode 100644
index 0000000..1c13254
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/include/librmcs/data/datas.hpp
@@ -0,0 +1,98 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <span>
+
+namespace librmcs::data {
+
+enum class DataId : uint8_t {
+    kExtend = 0,
+
+    kGpio = 1,
+
+    kCan0 = 2,
+    kCan1 = 3,
+    kCan2 = 4,
+    kCan3 = 5,
+    kCan4 = 6,
+    kCan5 = 7,
+    kCan6 = 8,
+    kCan7 = 9,
+
+    kUartDbus = 10,
+    kUart0 = 11,
+    kUart1 = 12,
+    kUart2 = 13,
+    kUart3 = 14,
+
+    kImu = 15,
+};
+
+struct CanDataView {
+    uint32_t can_id;
+    std::span<const std::byte> can_data;
+    bool is_fdcan = false;
+    bool is_extended_can_id = false;
+    bool is_remote_transmission = false;
+};
+
+struct UartDataView {
+    std::span<const std::byte> uart_data;
+    bool idle_delimited = false;
+};
+
+struct GpioDigitalDataView {
+    uint8_t channel;
+    bool high;
+};
+
+struct GpioAnalogDataView {
+    uint8_t channel;
+    uint16_t value;
+};
+
+struct GpioReadConfigView {
+    uint8_t channel;
+    uint16_t period_ms = 0;
+    bool asap = false;
+    bool rising_edge = false;
+    bool falling_edge = false;
+};
+
+struct AccelerometerDataView {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+};
+
+struct GyroscopeDataView {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+};
+
+class DataCallback {
+public:
+    DataCallback() = default;
+    DataCallback(const DataCallback&) = delete;
+    DataCallback& operator=(const DataCallback&) = delete;
+    DataCallback(DataCallback&&) = delete;
+    DataCallback& operator=(DataCallback&&) = delete;
+    virtual ~DataCallback() = default;
+
+    // `*_receive_callback` returns `true` if id is valid
+    virtual bool can_receive_callback(DataId id, const CanDataView& data) = 0;
+
+    virtual bool uart_receive_callback(DataId id, const UartDataView& data) = 0;
+
+    virtual void gpio_digital_read_result_callback(const GpioDigitalDataView& data) = 0;
+
+    virtual void gpio_analog_read_result_callback(const GpioAnalogDataView& data) = 0;
+
+    virtual void accelerometer_receive_callback(const AccelerometerDataView& data) = 0;
+
+    virtual void gyroscope_receive_callback(const GyroscopeDataView& data) = 0;
+};
+
+} // namespace librmcs::data
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/setup-clangd b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/setup-clangd
new file mode 100644
index 0000000..c64b8f9
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/setup-clangd
@@ -0,0 +1,45 @@
+#!/usr/bin/env sh
+set -eu
+
+usage() {
+    cat <<'EOF'
+Usage: setup-clangd <path>
+Creates symlinks in core/:
+    .clangd -> ../<path>/.clangd
+    compile_commands.json -> ../<path>/build/compile_commands.json
+
+Example: setup-clangd firmware/rmcs_board
+EOF
+}
+
+if [ "$#" -ne 1 ]; then
+    usage
+    exit 1
+fi
+
+core_dir=$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)
+root_dir=$(CDPATH='' cd -- "$core_dir/.." && pwd)
+target="$root_dir/$1"
+
+if [ ! -d "$target" ]; then
+    echo "Error: directory '$1' does not exist." >&2
+    exit 1
+fi
+
+link_clangd="$core_dir/.clangd"
+link_compile="$core_dir/compile_commands.json"
+
+for link in "$link_clangd" "$link_compile"; do
+    if [ -L "$link" ]; then
+        rm -f "$link"
+    elif [ -e "$link" ]; then
+        echo "Error: $link exists and is not a symlink." >&2
+        exit 1
+    fi
+done
+
+(
+    cd "$core_dir"
+    ln -s "../$1/.clangd" .clangd
+    ln -s "../$1/build/compile_commands.json" compile_commands.json
+)
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/coroutine/lifo.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/coroutine/lifo.hpp
new file mode 100644
index 0000000..bcd624b
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/coroutine/lifo.hpp
@@ -0,0 +1,272 @@
+#pragma once
+
+#include <coroutine>
+#include <cstddef>
+#include <new>
+#include <span>
+#include <type_traits>
+#include <utility>
+
+#include "core/src/utility/assert.hpp"
+#include "core/src/utility/stack_allocator.hpp"
+
+namespace librmcs::core::coroutine {
+
+class LifoContext {
+public:
+    constexpr explicit LifoContext(std::span<std::byte> buffer) noexcept
+        : stack_allocator_(buffer) {}
+
+    constexpr void* allocate(std::size_t n) noexcept { return stack_allocator_.allocate(n); }
+
+    constexpr void deallocate(void* p, std::size_t n) noexcept {
+        stack_allocator_.deallocate(p, n);
+    }
+
+    constexpr bool resume() noexcept {
+        if (!waiting_coroutine_ || waiting_coroutine_.done())
+            return false;
+
+        auto h = waiting_coroutine_;
+        waiting_coroutine_ = nullptr;
+        h.resume();
+
+        return true;
+    }
+
+    struct Awaiter {
+        constexpr explicit Awaiter(LifoContext& ctx) noexcept
+            : context(ctx) {}
+
+        static constexpr bool await_ready() noexcept { return false; }
+
+        constexpr void await_suspend(std::coroutine_handle<> h) noexcept {
+            context.waiting_coroutine_ = h;
+        }
+
+        static constexpr void await_resume() noexcept {}
+
+        LifoContext& context;
+    };
+    constexpr Awaiter suspend() noexcept { return Awaiter{*this}; }
+
+private:
+    utility::StackAllocator stack_allocator_;
+
+    std::coroutine_handle<> waiting_coroutine_{nullptr};
+};
+
+template <size_t stack_size>
+class InlineLifoContext : public LifoContext {
+public:
+    constexpr InlineLifoContext() noexcept
+        : LifoContext(stack_buffer_) {}
+
+    constexpr LifoContext& context() { return static_cast<LifoContext&>(*this); }
+
+private:
+    alignas(std::max_align_t) std::byte stack_buffer_[stack_size]{};
+};
+
+template <LifoContext* static_context = nullptr>
+struct LifoStackedPromise {
+    template <typename... Args>
+    requires(static_context == nullptr)
+    static void* operator new(std::size_t n, LifoContext& context, const Args&...) noexcept {
+        // Allocate coroutine frame from the LIFO context and append a back-pointer trailer.
+        constexpr std::size_t align = alignof(LifoContext*);
+        n = (n + align - 1) & ~(align - 1);
+
+        auto* p = static_cast<std::byte*>(context.allocate(n + sizeof(LifoContext*)));
+        if (!p)
+            return nullptr;
+        new (p + n) LifoContext*(&context);
+
+        return static_cast<void*>(p);
+    }
+
+    template <typename... Args>
+    requires(static_context != nullptr)
+    static void* operator new(std::size_t n, const Args&...) noexcept {
+        return static_context->allocate(n);
+    }
+
+    // NOLINTNEXTLINE(misc-new-delete-overloads)
+    static void operator delete(void* p, std::size_t n) noexcept {
+        if constexpr (static_context == nullptr) {
+            constexpr std::size_t align = alignof(LifoContext*);
+            n = (n + align - 1) & ~(align - 1);
+
+            // Recover the original LifoContext from the trailer and deallocate the whole block.
+            auto* context =
+                *std::launder(reinterpret_cast<LifoContext**>(static_cast<std::byte*>(p) + n));
+            context->deallocate(p, n + sizeof(LifoContext*));
+        } else {
+            static_context->deallocate(p, n);
+        }
+    }
+};
+
+template <typename T = void, LifoContext* static_context = nullptr>
+requires(
+    std::is_same_v<T, void> || (std::is_move_assignable_v<T> && std::is_default_constructible_v<T>))
+class LifoTask {
+public:
+    struct promise_type : LifoStackedPromise<static_context> {
+        friend class LifoTask;
+
+        [[noreturn]] static LifoTask get_return_object_on_allocation_failure() noexcept {
+            utility::assert_failed_debug();
+        }
+
+        constexpr LifoTask get_return_object() noexcept {
+            return LifoTask{std::coroutine_handle<promise_type>::from_promise(*this)};
+        }
+
+        static constexpr std::suspend_never initial_suspend() noexcept { return {}; }
+
+        struct FinalAwaiter {
+            static constexpr bool await_ready() noexcept { return false; }
+
+            static constexpr std::coroutine_handle<>
+                await_suspend(std::coroutine_handle<promise_type> h) noexcept {
+                auto& promise = h.promise();
+
+                if (promise.continuation_)
+                    return promise.continuation_;
+
+                return std::noop_coroutine();
+            }
+
+            constexpr void await_resume() noexcept {}
+        };
+        static constexpr FinalAwaiter final_suspend() noexcept { return {}; }
+
+        void return_value(T value) noexcept(std::is_nothrow_move_assignable_v<T>) {
+            result_ = std::move(value);
+        }
+
+        [[noreturn]] static void unhandled_exception() noexcept { utility::assert_failed_debug(); }
+
+    private:
+        T result_;
+        std::coroutine_handle<> continuation_{nullptr};
+    };
+
+    LifoTask(const LifoTask&) = delete;
+    LifoTask& operator=(const LifoTask&) = delete;
+    LifoTask(LifoTask&&) = delete;
+    LifoTask& operator=(LifoTask&&) = delete;
+
+    ~LifoTask() noexcept { handle_.destroy(); }
+
+    struct TaskAwaiter {
+        const std::coroutine_handle<promise_type> handle;
+
+        constexpr bool await_ready() const noexcept { return handle.done(); }
+
+        constexpr void await_suspend(std::coroutine_handle<> awaiting_coroutine) const noexcept {
+            handle.promise().continuation_ = awaiting_coroutine;
+        }
+
+        T await_resume() noexcept(std::is_nothrow_move_constructible_v<T>) {
+            utility::assert_debug(handle.done());
+            return std::move(handle.promise().result_);
+        }
+    };
+    constexpr TaskAwaiter operator co_await() && noexcept { return TaskAwaiter{handle_}; }
+
+    [[nodiscard]] constexpr void* identifier() const noexcept { return handle_.address(); }
+
+    [[nodiscard]] constexpr bool done() const noexcept { return handle_.done(); }
+
+    T& result() noexcept {
+        utility::assert_debug(handle_.done());
+        return handle_.promise().result_;
+    }
+
+    const T& result() const noexcept {
+        utility::assert_debug(handle_.done());
+        return handle_.promise().result_;
+    }
+
+private:
+    explicit constexpr LifoTask(std::coroutine_handle<promise_type> h) noexcept
+        : handle_(h) {}
+
+    const std::coroutine_handle<promise_type> handle_;
+};
+
+template <LifoContext* static_context>
+class LifoTask<void, static_context> {
+public:
+    struct promise_type : LifoStackedPromise<static_context> {
+        friend class LifoTask;
+
+        [[noreturn]] static LifoTask get_return_object_on_allocation_failure() noexcept {
+            utility::assert_failed_debug();
+        }
+
+        constexpr LifoTask get_return_object() noexcept {
+            return LifoTask{std::coroutine_handle<promise_type>::from_promise(*this)};
+        }
+
+        static constexpr std::suspend_never initial_suspend() noexcept { return {}; }
+
+        struct FinalAwaiter {
+            static constexpr bool await_ready() noexcept { return false; }
+
+            static constexpr std::coroutine_handle<>
+                await_suspend(std::coroutine_handle<promise_type> h) noexcept {
+                auto& promise = h.promise();
+
+                if (promise.continuation_)
+                    return promise.continuation_;
+
+                return std::noop_coroutine();
+            }
+
+            constexpr void await_resume() noexcept {}
+        };
+        static constexpr FinalAwaiter final_suspend() noexcept { return {}; }
+
+        constexpr void return_void() noexcept {}
+
+        [[noreturn]] static void unhandled_exception() noexcept { utility::assert_failed_debug(); }
+
+    private:
+        std::coroutine_handle<> continuation_{nullptr};
+    };
+
+    LifoTask(const LifoTask&) = delete;
+    LifoTask& operator=(const LifoTask&) = delete;
+    LifoTask(LifoTask&&) = delete;
+    LifoTask& operator=(LifoTask&&) = delete;
+
+    ~LifoTask() noexcept { handle_.destroy(); }
+
+    struct TaskAwaiter {
+        const std::coroutine_handle<promise_type> handle;
+
+        constexpr bool await_ready() const noexcept { return handle.done(); }
+
+        constexpr void await_suspend(std::coroutine_handle<> awaiting_coroutine) const noexcept {
+            handle.promise().continuation_ = awaiting_coroutine;
+        }
+
+        constexpr void await_resume() noexcept { utility::assert_debug(handle.done()); }
+    };
+    constexpr TaskAwaiter operator co_await() && noexcept { return TaskAwaiter{handle_}; }
+
+    [[nodiscard]] constexpr bool done() const noexcept { return handle_.done(); }
+
+    constexpr void result() const noexcept { utility::assert_debug(handle_.done()); }
+
+private:
+    explicit constexpr LifoTask(std::coroutine_handle<promise_type> h) noexcept
+        : handle_(h) {}
+
+    const std::coroutine_handle<promise_type> handle_;
+};
+
+} // namespace librmcs::core::coroutine
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/constant.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/constant.hpp
new file mode 100644
index 0000000..b652e54
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/constant.hpp
@@ -0,0 +1,9 @@
+#pragma once
+
+#include <cstddef>
+
+namespace librmcs::core::protocol {
+
+static constexpr std::size_t kProtocolBufferSize = 1023;
+
+}
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/deserializer.cpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/deserializer.cpp
new file mode 100644
index 0000000..2f03bbf
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/deserializer.cpp
@@ -0,0 +1,285 @@
+#include "deserializer.hpp"
+
+#include <cstddef>
+#include <cstdint>
+#include <span>
+
+#include "core/include/librmcs/data/datas.hpp"
+#include "core/src/coroutine/lifo.hpp"
+#include "core/src/protocol/protocol.hpp"
+#include "core/src/utility/assert.hpp"
+
+namespace librmcs::core::protocol {
+
+coroutine::LifoTask<void> Deserializer::process_stream() {
+    while (true) {
+        utility::assert_debug(pending_bytes_ == 0 && requested_bytes_ == 0);
+
+        FieldId id;
+        {
+            awaiting_field_first_byte_ = true;
+            const auto* header_bytes = co_await peek_bytes(sizeof(FieldHeader));
+            // Logically impossible; stack unwinding is invalid here.
+            utility::assert_debug(header_bytes);
+            auto header = FieldHeader::CRef{header_bytes};
+            id = header.get<FieldHeader::Id>();
+            awaiting_field_first_byte_ = false;
+        }
+        if (id == FieldId::kExtend) {
+            const auto* header_bytes = co_await peek_bytes(sizeof(FieldHeaderExtended));
+            if (!header_bytes) [[unlikely]] {
+                enter_discard_mode();
+                continue;
+            }
+            auto header = FieldHeaderExtended::CRef{header_bytes};
+            id = header.get<FieldHeaderExtended::IdExtended>();
+            consume_peeked_partial(sizeof(FieldHeader));
+        }
+
+        bool success = false;
+        switch (id) {
+        case FieldId::kCan0:
+        case FieldId::kCan1:
+        case FieldId::kCan2:
+        case FieldId::kCan3:
+        case FieldId::kCan4:
+        case FieldId::kCan5:
+        case FieldId::kCan6:
+        case FieldId::kCan7: success = co_await process_can_field(id); break;
+        case FieldId::kUartDbus:
+        case FieldId::kUart0:
+        case FieldId::kUart1:
+        case FieldId::kUart2:
+        case FieldId::kUart3: success = co_await process_uart_field(id); break;
+        case FieldId::kGpio: success = co_await process_gpio_field(id); break;
+        case FieldId::kImu: success = co_await process_imu_field(id); break;
+        default: break;
+        }
+        if (!success)
+            enter_discard_mode();
+    }
+}
+
+coroutine::LifoTask<bool> Deserializer::process_can_field(FieldId field_id) {
+    data::CanDataView data_view;
+    uint8_t can_data_length = 0;
+    {
+        const auto* header_bytes = co_await peek_bytes(sizeof(CanHeader));
+        if (!header_bytes) [[unlikely]]
+            co_return false;
+        auto header = CanHeader::CRef{header_bytes};
+
+        data_view.is_fdcan = header.get<CanHeader::IsFdCan>();
+        if (data_view.is_fdcan) [[unlikely]]
+            co_return false;
+
+        data_view.is_extended_can_id = header.get<CanHeader::IsExtendedCanId>();
+        data_view.is_remote_transmission = header.get<CanHeader::IsRemoteTransmission>();
+        can_data_length = static_cast<uint8_t>(header.get<CanHeader::HasCanData>());
+    }
+
+    if (data_view.is_extended_can_id) {
+        const auto* header_ext_bytes = co_await peek_bytes(sizeof(CanHeaderExtended));
+        if (!header_ext_bytes) [[unlikely]]
+            co_return false;
+        auto header = CanHeaderExtended::CRef{header_ext_bytes};
+
+        data_view.can_id = header.get<CanHeaderExtended::CanId>();
+        can_data_length = can_data_length ? header.get<CanHeaderExtended::DataLengthCode>() + 1 : 0;
+    } else {
+        const auto* header_std_bytes = co_await peek_bytes(sizeof(CanHeaderStandard));
+        if (!header_std_bytes) [[unlikely]]
+            co_return false;
+        auto header = CanHeaderStandard::CRef{header_std_bytes};
+
+        data_view.can_id = header.get<CanHeaderStandard::CanId>();
+        can_data_length = can_data_length ? header.get<CanHeaderStandard::DataLengthCode>() + 1 : 0;
+    }
+    consume_peeked();
+
+    if (can_data_length) {
+        const auto* can_data_bytes = co_await peek_bytes(can_data_length);
+        if (!can_data_bytes) [[unlikely]]
+            co_return false;
+        data_view.can_data = std::span<const std::byte>{can_data_bytes, can_data_length};
+        consume_peeked();
+    } else {
+        data_view.can_data = std::span<const std::byte>{};
+    }
+
+    callback_.can_deserialized_callback(field_id, data_view);
+
+    co_return true;
+}
+
+coroutine::LifoTask<bool> Deserializer::process_uart_field(FieldId field_id) {
+    data::UartDataView data_view;
+    uint16_t uart_data_length;
+    {
+        const auto* header_bytes = co_await peek_bytes(sizeof(UartHeader));
+        if (!header_bytes) [[unlikely]]
+            co_return false;
+        auto header = UartHeader::CRef{header_bytes};
+        data_view.idle_delimited = header.get<UartHeader::IdleDelimited>();
+
+        if (!header.get<UartHeader::IsExtendedLength>()) {
+            uart_data_length = header.get<UartHeader::DataLength>();
+        } else {
+            const auto* header_ext_bytes = co_await peek_bytes(sizeof(UartHeaderExtended));
+            if (!header_ext_bytes) [[unlikely]]
+                co_return false;
+            auto header_ext = UartHeaderExtended::CRef{header_ext_bytes};
+            uart_data_length = header_ext.get<UartHeaderExtended::DataLengthExtended>();
+            if (uart_data_length > sizeof(pending_bytes_buffer_)) [[unlikely]]
+                co_return false;
+        }
+    }
+    consume_peeked();
+
+    if (uart_data_length) {
+        const auto* uart_data_bytes = co_await peek_bytes(uart_data_length);
+        if (!uart_data_bytes) [[unlikely]]
+            co_return false;
+        data_view.uart_data = std::span<const std::byte>{uart_data_bytes, uart_data_length};
+        consume_peeked();
+    } else {
+        data_view.uart_data = std::span<const std::byte>{};
+    }
+
+    callback_.uart_deserialized_callback(field_id, data_view);
+
+    co_return true;
+}
+
+coroutine::LifoTask<bool> Deserializer::process_gpio_field(FieldId) {
+    GpioHeader::PayloadEnum payload_type;
+    std::uint8_t channel = 0;
+    {
+        const auto* header_bytes = co_await peek_bytes(sizeof(GpioHeader));
+        if (!header_bytes) [[unlikely]]
+            co_return false;
+
+        auto header = GpioHeader::CRef{header_bytes};
+        payload_type = header.get<GpioHeader::PayloadType>();
+        channel = header.get<GpioHeader::Channel>();
+        consume_peeked();
+    }
+
+    switch (payload_type) {
+    case GpioHeader::PayloadEnum::kDigitalWriteLow:
+    case GpioHeader::PayloadEnum::kDigitalWriteHigh: {
+        data::GpioDigitalDataView data_view{};
+        data_view.channel = channel;
+        data_view.high = payload_type == GpioHeader::PayloadEnum::kDigitalWriteHigh;
+        callback_.gpio_digital_data_deserialized_callback(data_view);
+        break;
+    }
+    case GpioHeader::PayloadEnum::kAnalogWrite: {
+        const auto* payload_bytes = co_await peek_bytes(sizeof(GpioAnalogPayload));
+        if (!payload_bytes) [[unlikely]]
+            co_return false;
+
+        auto payload = GpioAnalogPayload::CRef{payload_bytes};
+        data::GpioAnalogDataView data_view{};
+        data_view.channel = channel;
+        data_view.value = payload.get<GpioAnalogPayload::Value>();
+        consume_peeked();
+
+        callback_.gpio_analog_data_deserialized_callback(data_view);
+        break;
+    }
+    case GpioHeader::PayloadEnum::kDigitalRead:
+    case GpioHeader::PayloadEnum::kAnalogRead: {
+        const auto* payload_bytes = co_await peek_bytes(sizeof(GpioReadConfigPayload));
+        if (!payload_bytes) [[unlikely]]
+            co_return false;
+
+        auto payload = GpioReadConfigPayload::CRef{payload_bytes};
+        data::GpioReadConfigView data_view{};
+        data_view.channel = channel;
+        data_view.asap = payload.get<GpioReadConfigPayload::Asap>();
+        data_view.rising_edge = payload.get<GpioReadConfigPayload::RisingEdge>();
+        data_view.falling_edge = payload.get<GpioReadConfigPayload::FallingEdge>();
+        data_view.period_ms = payload.get<GpioReadConfigPayload::PeriodMs>();
+        consume_peeked();
+
+        if (payload_type == GpioHeader::PayloadEnum::kDigitalRead) {
+            callback_.gpio_digital_read_config_deserialized_callback(data_view);
+        } else {
+            callback_.gpio_analog_read_config_deserialized_callback(data_view);
+        }
+        break;
+    }
+    case GpioHeader::PayloadEnum::kDigitalReadResultLow:
+    case GpioHeader::PayloadEnum::kDigitalReadResultHigh: {
+        data::GpioDigitalDataView data_view{};
+        data_view.channel = channel;
+        data_view.high = payload_type == GpioHeader::PayloadEnum::kDigitalReadResultHigh;
+        callback_.gpio_digital_data_deserialized_callback(data_view);
+        break;
+    }
+    case GpioHeader::PayloadEnum::kAnalogReadResult: {
+        const auto* payload_bytes = co_await peek_bytes(sizeof(GpioAnalogPayload));
+        if (!payload_bytes) [[unlikely]]
+            co_return false;
+
+        auto payload = GpioAnalogPayload::CRef{payload_bytes};
+        data::GpioAnalogDataView data_view{};
+        data_view.channel = channel;
+        data_view.value = payload.get<GpioAnalogPayload::Value>();
+        consume_peeked();
+
+        callback_.gpio_analog_data_deserialized_callback(data_view);
+        break;
+    }
+    default: co_return false;
+    }
+
+    co_return true;
+}
+
+coroutine::LifoTask<bool> Deserializer::process_imu_field(FieldId) {
+    ImuHeader::PayloadEnum payload_type;
+    {
+        const auto* header_bytes = co_await peek_bytes(sizeof(ImuHeader));
+        if (!header_bytes) [[unlikely]]
+            co_return false;
+
+        auto header = ImuHeader::CRef{header_bytes};
+        payload_type = header.get<ImuHeader::PayloadType>();
+        consume_peeked();
+    }
+
+    switch (payload_type) {
+    case ImuHeader::PayloadEnum::kAccelerometer: {
+        data::AccelerometerDataView data_view{};
+        const auto* payload_bytes = co_await peek_bytes(sizeof(ImuAccelerometerPayload));
+        if (!payload_bytes) [[unlikely]]
+            co_return false;
+        auto payload = ImuAccelerometerPayload::CRef{payload_bytes};
+        data_view.x = payload.get<ImuAccelerometerPayload::X>();
+        data_view.y = payload.get<ImuAccelerometerPayload::Y>();
+        data_view.z = payload.get<ImuAccelerometerPayload::Z>();
+        consume_peeked();
+        callback_.accelerometer_deserialized_callback(data_view);
+        break;
+    }
+    case ImuHeader::PayloadEnum::kGyroscope: {
+        data::GyroscopeDataView data_view{};
+        const auto* payload_bytes = co_await peek_bytes(sizeof(ImuGyroscopePayload));
+        if (!payload_bytes) [[unlikely]]
+            co_return false;
+        auto payload = ImuGyroscopePayload::CRef{payload_bytes};
+        data_view.x = payload.get<ImuGyroscopePayload::X>();
+        data_view.y = payload.get<ImuGyroscopePayload::Y>();
+        data_view.z = payload.get<ImuGyroscopePayload::Z>();
+        consume_peeked();
+        callback_.gyroscope_deserialized_callback(data_view);
+        break;
+    }
+    default: co_return false;
+    }
+    co_return true;
+}
+
+} // namespace librmcs::core::protocol
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/deserializer.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/deserializer.hpp
new file mode 100644
index 0000000..533f98c
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/deserializer.hpp
@@ -0,0 +1,264 @@
+#pragma once
+
+#include <coroutine>
+#include <cstddef>
+#include <cstring>
+#include <span>
+#include <utility>
+
+#include "core/include/librmcs/data/datas.hpp"
+#include "core/src/coroutine/lifo.hpp"
+#include "core/src/protocol/constant.hpp"
+#include "core/src/protocol/protocol.hpp"
+#include "core/src/utility/assert.hpp"
+
+namespace librmcs::core::protocol {
+
+class DeserializeCallback {
+public:
+    DeserializeCallback() = default;
+    DeserializeCallback(const DeserializeCallback&) = delete;
+    DeserializeCallback& operator=(const DeserializeCallback&) = delete;
+    DeserializeCallback(DeserializeCallback&&) = delete;
+    DeserializeCallback& operator=(DeserializeCallback&&) = delete;
+    virtual ~DeserializeCallback() = default;
+
+    virtual void can_deserialized_callback(FieldId id, const data::CanDataView& data) = 0;
+
+    virtual void uart_deserialized_callback(FieldId id, const data::UartDataView& data) = 0;
+
+    virtual void gpio_digital_data_deserialized_callback(const data::GpioDigitalDataView& data) = 0;
+
+    virtual void gpio_analog_data_deserialized_callback(const data::GpioAnalogDataView& data) = 0;
+
+    virtual void
+        gpio_digital_read_config_deserialized_callback(const data::GpioReadConfigView& data) = 0;
+
+    virtual void
+        gpio_analog_read_config_deserialized_callback(const data::GpioReadConfigView& data) = 0;
+
+    virtual void accelerometer_deserialized_callback(const data::AccelerometerDataView& data) = 0;
+
+    virtual void gyroscope_deserialized_callback(const data::GyroscopeDataView& data) = 0;
+
+    virtual void error_callback() = 0;
+};
+
+class Deserializer : private coroutine::InlineLifoContext<1024> {
+    friend coroutine::LifoStackedPromise<>;
+
+public:
+    constexpr explicit Deserializer(DeserializeCallback& callback)
+        : callback_(callback)
+        , main_task_(process_stream()) {}
+
+    ~Deserializer() { finish_transfer(); }
+    Deserializer(const Deserializer&) = delete;
+    Deserializer& operator=(const Deserializer&) = delete;
+    Deserializer(Deserializer&&) = delete;
+    Deserializer& operator=(Deserializer&&) = delete;
+
+    // Feed a new chunk of input bytes to satisfy the current peek_bytes() request.
+    // May resume the coroutine immediately if the request can be fully satisfied.
+    void feed(std::span<const std::byte> buffer) {
+        utility::assert_debug(requested_bytes_);
+        utility::assert_debug(pending_bytes_ < requested_bytes_);
+
+        if (buffer.empty() || discard_mode_)
+            return;
+
+        input_cursor_ = buffer.data();
+        input_end_ = buffer.data() + buffer.size();
+
+        if (!pending_bytes_ && buffer.size() >= requested_bytes_) {
+            // Fast path: current input already satisfies the request, no need to copy.
+            resume();
+            return;
+        }
+
+        auto required = static_cast<std::size_t>(requested_bytes_ - pending_bytes_);
+        const bool sufficient = buffer.size() >= required;
+
+        const size_t copied = sufficient ? required : buffer.size();
+        std::memcpy(pending_bytes_buffer_ + pending_bytes_, input_cursor_, copied);
+
+        pending_bytes_ += copied;
+        input_cursor_ += copied;
+
+        if (sufficient)
+            resume();
+    }
+
+    void finish_transfer() {
+        if (awaiting_field_first_byte_) {
+            discard_mode_ = false;
+            return;
+        }
+
+        // Input ended while parsing a field; truncated field.
+        // Cancel the outstanding peek by making await_resume() return nullptr.
+        discard_mode_ = true;
+        resume();
+        discard_mode_ = false;
+
+        utility::assert_debug(awaiting_field_first_byte_);
+    }
+
+private:
+    coroutine::LifoTask<void> process_stream();
+
+    coroutine::LifoTask<bool> process_can_field(FieldId field_id);
+
+    coroutine::LifoTask<bool> process_uart_field(FieldId field_id);
+
+    coroutine::LifoTask<bool> process_gpio_field(FieldId field_id);
+
+    coroutine::LifoTask<bool> process_imu_field(FieldId field_id);
+
+    // Await until at least `size` contiguous bytes are available at the current read position.
+    // Returns a pointer to a contiguous region of at least `size` bytes.
+    // (from input buffer or pending cache)
+    struct PeekBytesAwaiter {
+        constexpr explicit PeekBytesAwaiter(Deserializer& owner, size_t size) noexcept
+            : owner_(owner)
+            , scheduler_awaiter_(owner_.suspend()) {
+            utility::assert_debug(size);
+            // Request must fit cache and not shrink a previous request.
+            utility::assert_debug(size <= sizeof(pending_bytes_buffer_));
+            utility::assert_debug(size >= owner.requested_bytes_);
+            owner.requested_bytes_ = size;
+        }
+
+        constexpr bool await_ready() noexcept {
+            utility::assert_debug(
+                !owner_.input_cursor_ || owner_.input_end_ >= owner_.input_cursor_);
+            const auto remaining = owner_.input_cursor_
+                                     ? static_cast<size_t>(owner_.input_end_ - owner_.input_cursor_)
+                                     : 0;
+
+            const auto requested_bytes = owner_.requested_bytes_;
+            const auto pending_bytes = owner_.pending_bytes_;
+            utility::assert_debug(requested_bytes >= pending_bytes);
+
+            // Fast path: satisfy the request directly from the input span (no copy).
+            if (!pending_bytes && remaining >= requested_bytes)
+                return true;
+
+            const auto total_available = pending_bytes + remaining;
+
+            // Not enough bytes: append everything we have into the pending cache and suspend.
+            if (total_available < requested_bytes) {
+                if (remaining) {
+                    std::memcpy(
+                        owner_.pending_bytes_buffer_ + pending_bytes, owner_.input_cursor_,
+                        remaining);
+                }
+                owner_.pending_bytes_ = total_available;
+                owner_.input_cursor_ = owner_.input_end_;
+                return false;
+            }
+
+            // Enough bytes, but split across chunks: top up the pending cache to satisfy peek.
+            utility::assert_debug(pending_bytes);
+            const auto required = static_cast<std::size_t>(requested_bytes - pending_bytes);
+            if (required) {
+                utility::assert_debug(owner_.input_cursor_);
+                std::memcpy(
+                    owner_.pending_bytes_buffer_ + pending_bytes, owner_.input_cursor_, required);
+                owner_.input_cursor_ += required;
+                owner_.pending_bytes_ = requested_bytes;
+            }
+            return true;
+        }
+
+        constexpr void await_suspend(std::coroutine_handle<> h) noexcept {
+            scheduler_awaiter_.await_suspend(h);
+        }
+
+        constexpr const std::byte* await_resume() const noexcept {
+            utility::assert_debug(owner_.requested_bytes_);
+            // Discard mode cancels outstanding peeks by returning nullptr.
+            if (owner_.discard_mode_) [[unlikely]] {
+                return nullptr;
+            } else if (owner_.pending_bytes_) {
+                utility::assert_debug(owner_.pending_bytes_ == owner_.requested_bytes_);
+                return owner_.pending_bytes_buffer_;
+            } else {
+                utility::assert_debug(owner_.input_cursor_);
+                utility::assert_debug(owner_.input_end_ >= owner_.input_cursor_);
+                utility::assert_debug(
+                    std::cmp_greater_equal(
+                        owner_.input_end_ - owner_.input_cursor_, owner_.requested_bytes_));
+
+                return owner_.input_cursor_;
+            }
+        }
+
+    protected:
+        Deserializer& owner_;
+
+    private:
+        coroutine::LifoContext::Awaiter scheduler_awaiter_;
+    };
+
+    // IMPORTANT CALL CONTRACT:
+    // 1. Within a single parsing path, the pointer returned from any `co_await peek_bytes(...)` may
+    //    only be used until the next `co_await peek_bytes(...)` is issued; after a subsequent peek,
+    //    all previously returned pointers must be treated as invalid and never dereferenced.
+    // 2. Only "expanding the window" is allowed: each subsequent `peek_bytes(new_size)` must
+    //    satisfy `new_size >= old_size`.
+    // REVIEWERS: Please verify all call sites strictly follow this contract.
+    PeekBytesAwaiter peek_bytes(size_t size) { return PeekBytesAwaiter{*this, size}; }
+
+    void consume_peeked() {
+        utility::assert_debug(requested_bytes_);
+        if (pending_bytes_) {
+            utility::assert_debug(pending_bytes_ == requested_bytes_);
+            pending_bytes_ = 0;
+        } else {
+            input_cursor_ += requested_bytes_;
+        }
+        requested_bytes_ = 0;
+    }
+
+    void consume_peeked_partial(size_t n) {
+        utility::assert_debug(requested_bytes_);
+        utility::assert_debug(n < requested_bytes_);
+
+        if (pending_bytes_) {
+            utility::assert_debug(pending_bytes_ == requested_bytes_);
+            std::memmove(pending_bytes_buffer_, pending_bytes_buffer_ + n, requested_bytes_ - n);
+            pending_bytes_ -= n;
+        } else {
+            input_cursor_ += n;
+        }
+
+        requested_bytes_ -= n;
+    }
+
+    void enter_discard_mode() {
+        callback_.error_callback();
+
+        // - Treat the current input chunk as exhausted (so the next peek_bytes() suspends)
+        // - Ignore subsequent feed() calls while discard_mode_ is true
+        // Recovery is driven by finish_transfer(): when suspended waiting for the first header
+        // byte (awaiting_field_first_byte_ == true), finish_transfer() clears discard_mode_
+        // and returns, allowing parsing to resume on the next transfer.
+
+        pending_bytes_ = requested_bytes_ = 0;
+        input_cursor_ = input_end_;
+        discard_mode_ = true;
+    }
+
+    bool discard_mode_ = false;
+    bool awaiting_field_first_byte_ = false;
+    DeserializeCallback& callback_;
+
+    size_t pending_bytes_ = 0, requested_bytes_ = 0;
+    alignas(std::max_align_t) std::byte pending_bytes_buffer_[kProtocolBufferSize];
+
+    const std::byte *input_cursor_ = nullptr, *input_end_ = nullptr;
+    coroutine::LifoTask<void> main_task_;
+};
+
+} // namespace librmcs::core::protocol
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/protocol.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/protocol.hpp
new file mode 100644
index 0000000..47f7870
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/protocol.hpp
@@ -0,0 +1,132 @@
+#pragma once
+
+#include <cstdint>
+
+#include "core/include/librmcs/data/datas.hpp"
+#include "core/src/utility/bitfield.hpp"
+
+namespace librmcs::core::protocol {
+
+using FieldId = data::DataId;
+
+namespace layouts {
+
+using utility::BitfieldMember;
+
+struct FieldHeaderLayout {
+    using Id = utility::BitfieldMember<0, 4, FieldId>;
+};
+
+struct FieldHeaderExtendedLayout {
+    using IdExtended = utility::BitfieldMember<4, 8, FieldId>;
+};
+
+struct CanHeaderLayout {
+    using IsFdCan = BitfieldMember<4, 1>; // Currently invalid, reserved only
+    using IsExtendedCanId = BitfieldMember<5, 1>;
+    using IsRemoteTransmission = BitfieldMember<6, 1>;
+    using HasCanData = BitfieldMember<7, 1>;
+};
+
+struct CanHeaderStandardLayout {
+    using CanId = BitfieldMember<8, 11>;
+    using DataLengthCode = BitfieldMember<8 + 13, 3>;
+};
+
+struct CanHeaderExtendedLayout {
+    using CanId = BitfieldMember<8, 29>;
+    using DataLengthCode = BitfieldMember<8 + 29, 3>;
+};
+
+struct UartHeaderLayout {
+    using IdleDelimited = BitfieldMember<4, 1>;
+    using IsExtendedLength = BitfieldMember<5, 1>;
+    using DataLength = BitfieldMember<6, 2>;
+};
+
+struct UartHeaderExtendedLayout {
+    using DataLengthExtended = BitfieldMember<6, 10>;
+};
+
+} // namespace layouts
+
+struct FieldHeader
+    : utility::Bitfield<1>
+    , layouts::FieldHeaderLayout {};
+
+struct FieldHeaderExtended
+    : utility::Bitfield<2>
+    , layouts::FieldHeaderLayout
+    , layouts::FieldHeaderExtendedLayout {};
+
+struct CanHeader
+    : utility::Bitfield<1>
+    , layouts::CanHeaderLayout {};
+
+struct CanHeaderStandard
+    : utility::Bitfield<3>
+    , layouts::CanHeaderLayout
+    , layouts::CanHeaderStandardLayout {};
+
+struct CanHeaderExtended
+    : utility::Bitfield<5>
+    , layouts::CanHeaderLayout
+    , layouts::CanHeaderExtendedLayout {};
+
+struct UartHeader
+    : utility::Bitfield<1>
+    , layouts::UartHeaderLayout {};
+
+struct UartHeaderExtended
+    : utility::Bitfield<2>
+    , layouts::UartHeaderLayout
+    , layouts::UartHeaderExtendedLayout {};
+
+struct GpioHeader : utility::Bitfield<2> {
+    enum class PayloadEnum : uint8_t {
+        kDigitalWriteLow = 0b0000,
+        kDigitalWriteHigh = 0b0001,
+        kAnalogWrite = 0b0010,
+        kDigitalRead = 0b0100,
+        kAnalogRead = 0b0110,
+        kDigitalReadResultLow = 0b1000,
+        kDigitalReadResultHigh = 0b1001,
+        kAnalogReadResult = 0b1010,
+    };
+
+    using PayloadType = utility::BitfieldMember<4, 4, PayloadEnum>;
+    using Channel = utility::BitfieldMember<8, 8>;
+};
+
+struct GpioReadConfigPayload : utility::Bitfield<2> {
+    using Asap = utility::BitfieldMember<0, 1>;
+    using RisingEdge = utility::BitfieldMember<1, 1>;
+    using FallingEdge = utility::BitfieldMember<2, 1>;
+    using PeriodMs = utility::BitfieldMember<3, 13, uint16_t>;
+};
+
+struct GpioAnalogPayload : utility::Bitfield<2> {
+    using Value = utility::BitfieldMember<0, 16, uint16_t>;
+};
+
+struct ImuHeader : utility::Bitfield<1> {
+    enum class PayloadEnum : uint8_t {
+        kAccelerometer = 0,
+        kGyroscope = 1,
+    };
+    using PayloadType = utility::BitfieldMember<4, 4, PayloadEnum>;
+};
+
+struct ImuAccelerometerPayload : utility::Bitfield<6> {
+    using X = utility::BitfieldMember<0, 16, int16_t>;
+    using Y = utility::BitfieldMember<16, 16, int16_t>;
+    using Z = utility::BitfieldMember<32, 16, int16_t>;
+};
+
+struct ImuGyroscopePayload : utility::Bitfield<6> {
+    using X = utility::BitfieldMember<0, 16, int16_t>;
+    using Y = utility::BitfieldMember<16, 16, int16_t>;
+    using Z = utility::BitfieldMember<32, 16, int16_t>;
+};
+
+} // namespace librmcs::core::protocol
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/serializer.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/serializer.hpp
new file mode 100644
index 0000000..553d062
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/serializer.hpp
@@ -0,0 +1,437 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <cstring>
+#include <span>
+
+#include "core/include/librmcs/data/datas.hpp"
+#include "core/src/protocol/constant.hpp"
+#include "core/src/protocol/protocol.hpp"
+#include "core/src/utility/assert.hpp"
+#include "core/src/utility/verify.hpp"
+
+namespace librmcs::core::protocol {
+
+class SerializeBuffer {
+public:
+    SerializeBuffer() = default;
+    SerializeBuffer(const SerializeBuffer&) = delete;
+    SerializeBuffer& operator=(const SerializeBuffer&) = delete;
+    SerializeBuffer(SerializeBuffer&&) = delete;
+    SerializeBuffer& operator=(SerializeBuffer&&) = delete;
+    virtual ~SerializeBuffer() noexcept = default;
+
+    virtual std::span<std::byte> allocate(std::size_t size) noexcept = 0;
+};
+
+class Serializer {
+public:
+    enum class SerializeResult : std::uint8_t { kSuccess = 0, kBadAlloc = 1, kInvalidArgument = 2 };
+
+    explicit Serializer(SerializeBuffer& buffer) noexcept
+        : buffer_(buffer) {}
+
+    SerializeResult write_can(FieldId field_id, const data::CanDataView& view) noexcept {
+        const std::size_t required = required_can_size(field_id, view);
+        LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);
+
+        auto dst = buffer_.allocate(required);
+        LIBRMCS_VERIFY_LIKELY(!dst.empty(), SerializeResult::kBadAlloc);
+        utility::assert_debug(dst.size() == required);
+        std::byte* cursor = dst.data();
+
+        write_field_header(cursor, field_id);
+
+        const std::size_t can_data_length = view.can_data.size();
+        const bool has_data = can_data_length != 0;
+        const std::uint8_t data_length_code =
+            has_data ? static_cast<std::uint8_t>(can_data_length - 1) : 0;
+
+        if (view.is_extended_can_id) {
+            auto header = CanHeaderExtended::Ref(cursor);
+            cursor += sizeof(CanHeaderExtended);
+            header.set<CanHeaderExtended::IsFdCan>(false);
+            header.set<CanHeaderExtended::IsExtendedCanId>(true);
+            header.set<CanHeaderExtended::IsRemoteTransmission>(view.is_remote_transmission);
+            header.set<CanHeaderExtended::HasCanData>(has_data);
+            header.set<CanHeaderExtended::CanId>(view.can_id);
+            header.set<CanHeaderExtended::DataLengthCode>(data_length_code);
+        } else {
+            auto header = CanHeaderStandard::Ref(cursor);
+            cursor += sizeof(CanHeaderStandard);
+            header.set<CanHeaderStandard::IsFdCan>(false);
+            header.set<CanHeaderStandard::IsExtendedCanId>(false);
+            header.set<CanHeaderStandard::IsRemoteTransmission>(view.is_remote_transmission);
+            header.set<CanHeaderStandard::HasCanData>(has_data);
+            header.set<CanHeaderStandard::CanId>(view.can_id);
+            header.set<CanHeaderStandard::DataLengthCode>(data_length_code);
+        }
+
+        if (has_data) {
+            std::memcpy(cursor, view.can_data.data(), can_data_length);
+            cursor += can_data_length;
+        }
+
+        utility::assert_debug(cursor == dst.data() + dst.size());
+        return SerializeResult::kSuccess;
+    }
+
+    SerializeResult write_uart(
+        FieldId field_id, const data::UartDataView& view,
+        std::span<const std::byte> suffix_data = {}) noexcept {
+        const std::size_t required = required_uart_size(field_id, view, suffix_data);
+        LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);
+
+        auto dst = buffer_.allocate(required);
+        LIBRMCS_VERIFY_LIKELY(!dst.empty(), SerializeResult::kBadAlloc);
+        utility::assert_debug(dst.size() == required);
+        std::byte* cursor = dst.data();
+
+        write_field_header(cursor, field_id);
+
+        const std::size_t uart_data_length = view.uart_data.size() + suffix_data.size();
+        const bool use_extended_length = uart_data_length >= 4;
+        if (use_extended_length) {
+            auto header = UartHeaderExtended::Ref(cursor);
+            cursor += sizeof(UartHeaderExtended);
+            header.set<UartHeaderExtended::IdleDelimited>(view.idle_delimited);
+            header.set<UartHeaderExtended::IsExtendedLength>(true);
+            header.set<UartHeaderExtended::DataLengthExtended>(
+                static_cast<std::uint16_t>(uart_data_length));
+        } else {
+            auto header = UartHeader::Ref(cursor);
+            cursor += sizeof(UartHeader);
+            header.set<UartHeader::IdleDelimited>(view.idle_delimited);
+            header.set<UartHeader::IsExtendedLength>(false);
+            header.set<UartHeader::DataLength>(static_cast<std::uint8_t>(uart_data_length));
+        }
+
+        if (!view.uart_data.empty()) {
+            std::memcpy(cursor, view.uart_data.data(), view.uart_data.size());
+            cursor += view.uart_data.size();
+        }
+        if (!suffix_data.empty()) {
+            std::memcpy(cursor, suffix_data.data(), suffix_data.size());
+            cursor += suffix_data.size();
+        }
+
+        utility::assert_debug(cursor == dst.data() + dst.size());
+        return SerializeResult::kSuccess;
+    }
+
+    SerializeResult write_gpio_digital_data(const data::GpioDigitalDataView& view) noexcept {
+        const auto payload_type = view.high ? GpioHeader::PayloadEnum::kDigitalWriteHigh
+                                            : GpioHeader::PayloadEnum::kDigitalWriteLow;
+        const std::size_t required = required_gpio_size(FieldId::kGpio, payload_type);
+        LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);
+
+        auto dst = buffer_.allocate(required);
+        LIBRMCS_VERIFY_LIKELY(!dst.empty(), SerializeResult::kBadAlloc);
+        utility::assert_debug(dst.size() == required);
+        std::byte* cursor = dst.data();
+
+        write_field_header(cursor, FieldId::kGpio);
+
+        auto header = GpioHeader::Ref(cursor);
+        cursor += sizeof(GpioHeader);
+        header.set<GpioHeader::PayloadType>(payload_type);
+        header.set<GpioHeader::Channel>(view.channel);
+
+        utility::assert_debug(cursor == dst.data() + dst.size());
+        return SerializeResult::kSuccess;
+    }
+
+    SerializeResult write_gpio_digital_read_config(const data::GpioReadConfigView& view) noexcept {
+        LIBRMCS_VERIFY_LIKELY(
+            view.period_ms <= ((1U << 13) - 1U), SerializeResult::kInvalidArgument);
+
+        const std::size_t required =
+            required_gpio_size(FieldId::kGpio, GpioHeader::PayloadEnum::kDigitalRead);
+        LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);
+
+        auto dst = buffer_.allocate(required);
+        LIBRMCS_VERIFY_LIKELY(!dst.empty(), SerializeResult::kBadAlloc);
+        utility::assert_debug(dst.size() == required);
+        std::byte* cursor = dst.data();
+
+        write_field_header(cursor, FieldId::kGpio);
+
+        auto header = GpioHeader::Ref(cursor);
+        cursor += sizeof(GpioHeader);
+        header.set<GpioHeader::PayloadType>(GpioHeader::PayloadEnum::kDigitalRead);
+        header.set<GpioHeader::Channel>(view.channel);
+
+        auto payload = GpioReadConfigPayload::Ref(cursor);
+        cursor += sizeof(GpioReadConfigPayload);
+        payload.set<GpioReadConfigPayload::Asap>(view.asap);
+        payload.set<GpioReadConfigPayload::RisingEdge>(view.rising_edge);
+        payload.set<GpioReadConfigPayload::FallingEdge>(view.falling_edge);
+        payload.set<GpioReadConfigPayload::PeriodMs>(view.period_ms);
+
+        utility::assert_debug(cursor == dst.data() + dst.size());
+        return SerializeResult::kSuccess;
+    }
+
+    SerializeResult write_gpio_analog_data(const data::GpioAnalogDataView& view) noexcept {
+        const std::size_t required =
+            required_gpio_size(FieldId::kGpio, GpioHeader::PayloadEnum::kAnalogWrite);
+        LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);
+
+        auto dst = buffer_.allocate(required);
+        LIBRMCS_VERIFY_LIKELY(!dst.empty(), SerializeResult::kBadAlloc);
+        utility::assert_debug(dst.size() == required);
+        std::byte* cursor = dst.data();
+
+        write_field_header(cursor, FieldId::kGpio);
+
+        auto header = GpioHeader::Ref(cursor);
+        cursor += sizeof(GpioHeader);
+        header.set<GpioHeader::PayloadType>(GpioHeader::PayloadEnum::kAnalogWrite);
+        header.set<GpioHeader::Channel>(view.channel);
+
+        auto payload = GpioAnalogPayload::Ref(cursor);
+        cursor += sizeof(GpioAnalogPayload);
+        payload.set<GpioAnalogPayload::Value>(view.value);
+
+        utility::assert_debug(cursor == dst.data() + dst.size());
+        return SerializeResult::kSuccess;
+    }
+
+    SerializeResult write_gpio_analog_read_config(const data::GpioReadConfigView& view) noexcept {
+        LIBRMCS_VERIFY_LIKELY(
+            view.period_ms <= ((1U << 13) - 1U), SerializeResult::kInvalidArgument);
+        LIBRMCS_VERIFY_LIKELY(
+            !view.falling_edge && !view.rising_edge, SerializeResult::kInvalidArgument);
+
+        const std::size_t required =
+            required_gpio_size(FieldId::kGpio, GpioHeader::PayloadEnum::kAnalogRead);
+        LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);
+
+        auto dst = buffer_.allocate(required);
+        LIBRMCS_VERIFY_LIKELY(!dst.empty(), SerializeResult::kBadAlloc);
+        utility::assert_debug(dst.size() == required);
+        std::byte* cursor = dst.data();
+
+        write_field_header(cursor, FieldId::kGpio);
+
+        auto header = GpioHeader::Ref(cursor);
+        cursor += sizeof(GpioHeader);
+        header.set<GpioHeader::PayloadType>(GpioHeader::PayloadEnum::kAnalogRead);
+        header.set<GpioHeader::Channel>(view.channel);
+
+        auto payload = GpioReadConfigPayload::Ref(cursor);
+        cursor += sizeof(GpioReadConfigPayload);
+        payload.set<GpioReadConfigPayload::Asap>(view.asap);
+        payload.set<GpioReadConfigPayload::RisingEdge>(false);
+        payload.set<GpioReadConfigPayload::FallingEdge>(false);
+        payload.set<GpioReadConfigPayload::PeriodMs>(view.period_ms);
+
+        utility::assert_debug(cursor == dst.data() + dst.size());
+        return SerializeResult::kSuccess;
+    }
+
+    SerializeResult write_gpio_digital_read_result(const data::GpioDigitalDataView& view) noexcept {
+        const auto payload_type = view.high ? GpioHeader::PayloadEnum::kDigitalReadResultHigh
+                                            : GpioHeader::PayloadEnum::kDigitalReadResultLow;
+        const std::size_t required = required_gpio_size(FieldId::kGpio, payload_type);
+        LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);
+
+        auto dst = buffer_.allocate(required);
+        LIBRMCS_VERIFY_LIKELY(!dst.empty(), SerializeResult::kBadAlloc);
+        utility::assert_debug(dst.size() == required);
+        std::byte* cursor = dst.data();
+
+        write_field_header(cursor, FieldId::kGpio);
+
+        auto header = GpioHeader::Ref(cursor);
+        cursor += sizeof(GpioHeader);
+        header.set<GpioHeader::PayloadType>(payload_type);
+        header.set<GpioHeader::Channel>(view.channel);
+
+        utility::assert_debug(cursor == dst.data() + dst.size());
+        return SerializeResult::kSuccess;
+    }
+
+    SerializeResult write_gpio_analog_read_result(const data::GpioAnalogDataView& view) noexcept {
+        const std::size_t required =
+            required_gpio_size(FieldId::kGpio, GpioHeader::PayloadEnum::kAnalogReadResult);
+        LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);
+
+        auto dst = buffer_.allocate(required);
+        LIBRMCS_VERIFY_LIKELY(!dst.empty(), SerializeResult::kBadAlloc);
+        utility::assert_debug(dst.size() == required);
+        std::byte* cursor = dst.data();
+
+        write_field_header(cursor, FieldId::kGpio);
+
+        auto header = GpioHeader::Ref(cursor);
+        cursor += sizeof(GpioHeader);
+        header.set<GpioHeader::PayloadType>(GpioHeader::PayloadEnum::kAnalogReadResult);
+        header.set<GpioHeader::Channel>(view.channel);
+
+        auto payload = GpioAnalogPayload::Ref(cursor);
+        cursor += sizeof(GpioAnalogPayload);
+        payload.set<GpioAnalogPayload::Value>(view.value);
+
+        utility::assert_debug(cursor == dst.data() + dst.size());
+        return SerializeResult::kSuccess;
+    }
+
+    SerializeResult write_imu_accelerometer(const data::AccelerometerDataView& view) noexcept {
+        const std::size_t required = required_imu_size(FieldId::kImu, ImuPayload::kAccelerometer);
+        LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);
+
+        auto dst = buffer_.allocate(required);
+        LIBRMCS_VERIFY_LIKELY(!dst.empty(), SerializeResult::kBadAlloc);
+        utility::assert_debug(dst.size() == required);
+        std::byte* cursor = dst.data();
+
+        write_field_header(cursor, FieldId::kImu);
+
+        auto header = ImuHeader::Ref(cursor);
+        cursor += sizeof(ImuHeader);
+        header.set<ImuHeader::PayloadType>(ImuHeader::PayloadEnum::kAccelerometer);
+
+        auto payload = ImuAccelerometerPayload::Ref(cursor);
+        cursor += sizeof(ImuAccelerometerPayload);
+        payload.set<ImuAccelerometerPayload::X>(view.x);
+        payload.set<ImuAccelerometerPayload::Y>(view.y);
+        payload.set<ImuAccelerometerPayload::Z>(view.z);
+
+        utility::assert_debug(cursor == dst.data() + dst.size());
+        return SerializeResult::kSuccess;
+    }
+
+    SerializeResult write_imu_gyroscope(const data::GyroscopeDataView& view) noexcept {
+        const std::size_t required = required_imu_size(FieldId::kImu, ImuPayload::kGyroscope);
+        LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);
+
+        auto dst = buffer_.allocate(required);
+        LIBRMCS_VERIFY_LIKELY(!dst.empty(), SerializeResult::kBadAlloc);
+        utility::assert_debug(dst.size() == required);
+        std::byte* cursor = dst.data();
+
+        write_field_header(cursor, FieldId::kImu);
+
+        auto header = ImuHeader::Ref(cursor);
+        cursor += sizeof(ImuHeader);
+        header.set<ImuHeader::PayloadType>(ImuHeader::PayloadEnum::kGyroscope);
+
+        auto payload = ImuGyroscopePayload::Ref(cursor);
+        cursor += sizeof(ImuGyroscopePayload);
+        payload.set<ImuGyroscopePayload::X>(view.x);
+        payload.set<ImuGyroscopePayload::Y>(view.y);
+        payload.set<ImuGyroscopePayload::Z>(view.z);
+
+        utility::assert_debug(cursor == dst.data() + dst.size());
+        return SerializeResult::kSuccess;
+    }
+
+private:
+    static constexpr bool use_extended_field_header(FieldId field_id) {
+        utility::assert_debug(field_id != FieldId::kExtend);
+        return static_cast<std::uint8_t>(field_id) > 0xF;
+    }
+
+    static constexpr std::size_t required_field_header_size(FieldId field_id) {
+        return use_extended_field_header(field_id) ? sizeof(FieldHeaderExtended)
+                                                   : sizeof(FieldHeader);
+    }
+
+    static void write_field_header(std::byte*& cursor, FieldId field_id) noexcept {
+        if (use_extended_field_header(field_id)) {
+            auto header = FieldHeaderExtended::Ref(cursor);
+            cursor += 1;
+            static_assert(sizeof(FieldHeaderExtended) == sizeof(FieldHeader) + 1);
+            header.set<FieldHeaderExtended::Id>(FieldId::kExtend);
+            header.set<FieldHeaderExtended::IdExtended>(field_id);
+        } else {
+            auto header = FieldHeader::Ref(cursor);
+            header.set<FieldHeader::Id>(field_id);
+        }
+    }
+
+    static std::size_t required_can_size(FieldId field_id, const data::CanDataView& view) noexcept {
+        LIBRMCS_VERIFY_LIKELY(!view.is_fdcan, 0); // TODO: Support FDCAN when protocol ready
+        LIBRMCS_VERIFY_LIKELY(!view.is_remote_transmission || view.can_data.empty(), 0);
+        LIBRMCS_VERIFY_LIKELY(view.can_data.size() <= 8, 0);
+        if (view.is_extended_can_id)
+            LIBRMCS_VERIFY_LIKELY(view.can_id <= 0x1FFFFFFF, 0);
+        else
+            LIBRMCS_VERIFY_LIKELY(view.can_id <= 0x7FF, 0);
+
+        const std::size_t field_header_bytes = required_field_header_size(field_id);
+        const std::size_t can_header_bytes =
+            view.is_extended_can_id ? sizeof(CanHeaderExtended) : sizeof(CanHeaderStandard);
+        const std::size_t total =
+            (field_header_bytes + can_header_bytes - 1) + view.can_data.size();
+        utility::assert_debug(total <= kProtocolBufferSize);
+
+        return total;
+    }
+
+    static std::size_t required_uart_size(
+        FieldId field_id, const data::UartDataView& view,
+        std::span<const std::byte> suffix_data) noexcept {
+        const std::size_t field_header_bytes = required_field_header_size(field_id);
+
+        const std::size_t uart_data_length = view.uart_data.size() + suffix_data.size();
+        LIBRMCS_VERIFY_LIKELY(uart_data_length <= kProtocolBufferSize, 0);
+
+        const bool use_extended_length = uart_data_length >= 4;
+        const std::size_t uart_header_bytes =
+            use_extended_length ? sizeof(UartHeaderExtended) : sizeof(UartHeader);
+
+        const std::size_t total = (field_header_bytes + uart_header_bytes - 1) + uart_data_length;
+        LIBRMCS_VERIFY_LIKELY(total <= kProtocolBufferSize, 0);
+
+        return total;
+    }
+
+    static std::size_t
+        required_gpio_size(FieldId field_id, GpioHeader::PayloadEnum payload) noexcept {
+        const std::size_t field_header_bytes = required_field_header_size(field_id);
+        const std::size_t gpio_header_bytes = sizeof(GpioHeader);
+        std::size_t payload_bytes = 0;
+        switch (payload) {
+        case GpioHeader::PayloadEnum::kDigitalWriteLow:
+        case GpioHeader::PayloadEnum::kDigitalWriteHigh:
+        case GpioHeader::PayloadEnum::kDigitalReadResultLow:
+        case GpioHeader::PayloadEnum::kDigitalReadResultHigh: payload_bytes = 0; break;
+        case GpioHeader::PayloadEnum::kDigitalRead:
+        case GpioHeader::PayloadEnum::kAnalogRead:
+            payload_bytes = sizeof(GpioReadConfigPayload);
+            break;
+        case GpioHeader::PayloadEnum::kAnalogWrite:
+        case GpioHeader::PayloadEnum::kAnalogReadResult:
+            payload_bytes = sizeof(GpioAnalogPayload);
+            break;
+        default: return 0;
+        }
+
+        const std::size_t total = (field_header_bytes + gpio_header_bytes - 1) + payload_bytes;
+        utility::assert_debug(total <= kProtocolBufferSize);
+
+        return total;
+    }
+
+    enum class ImuPayload : std::uint8_t { kAccelerometer = 0, kGyroscope = 1 };
+
+    static std::size_t required_imu_size(FieldId field_id, ImuPayload payload) noexcept {
+        const std::size_t field_header_bytes = required_field_header_size(field_id);
+        const std::size_t imu_header_bytes = sizeof(ImuHeader);
+        const std::size_t payload_bytes = (payload == ImuPayload::kAccelerometer)
+                                            ? sizeof(ImuAccelerometerPayload)
+                                            : sizeof(ImuGyroscopePayload);
+
+        const std::size_t total = (field_header_bytes + imu_header_bytes - 1) + payload_bytes;
+        utility::assert_debug(total <= kProtocolBufferSize);
+
+        return total;
+    }
+
+    SerializeBuffer& buffer_;
+};
+
+} // namespace librmcs::core::protocol
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/assert.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/assert.hpp
new file mode 100644
index 0000000..6c92e80
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/assert.hpp
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <source_location>
+#include <type_traits>
+#include <utility>
+
+#ifndef NDEBUG
+# include <functional>
+#endif
+
+namespace librmcs::core::utility {
+
+[[noreturn]] void assert_func(const std::source_location& location);
+
+[[noreturn]] constexpr void
+    assert_failed_always(const std::source_location& location = std::source_location::current()) {
+    assert_func(location);
+}
+
+[[noreturn]] inline void
+    assert_failed_debug(const std::source_location& location = std::source_location::current()) {
+#ifdef NDEBUG
+    (void)location;
+    std::unreachable();
+#else
+    assert_func(location);
+#endif
+}
+
+constexpr void assert_always(
+    bool condition, const std::source_location& location = std::source_location::current()) {
+    if (!condition) [[unlikely]]
+        assert_func(location);
+}
+
+constexpr void assert_debug(
+    bool condition, const std::source_location& location = std::source_location::current()) {
+#ifdef NDEBUG
+    [[assume(condition)]];
+    (void)location;
+#else
+    assert_always(condition, location);
+#endif
+}
+
+// Debug-only lazy assertion: The predicate is evaluated only in debug builds.
+template <typename Condition>
+requires std::is_nothrow_invocable_r_v<bool, Condition&&> inline void assert_debug_lazy(
+    Condition&& condition, const std::source_location& location = std::source_location::current()) {
+#ifdef NDEBUG
+    (void)condition;
+    (void)location;
+#else
+    assert_always(static_cast<bool>(std::invoke(std::forward<Condition>(condition))), location);
+#endif
+}
+
+} // namespace librmcs::core::utility
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/bitfield.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/bitfield.hpp
new file mode 100644
index 0000000..c285754
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/bitfield.hpp
@@ -0,0 +1,273 @@
+#pragma once
+
+#include <concepts>
+#include <cstddef>
+#include <cstdint>
+#include <limits>
+#include <type_traits>
+
+namespace librmcs::core::utility {
+
+struct BitfieldMemberTag {};
+
+template <std::size_t bit_width>
+using DefaultValueTypeT = std::conditional_t<
+    (bit_width == 1), bool,
+    std::conditional_t<
+        (bit_width <= 8), std::uint8_t,
+        std::conditional_t<
+            (bit_width <= 16), std::uint16_t,
+            std::conditional_t<
+                (bit_width <= 32), std::uint32_t,
+                std::conditional_t<(bit_width <= 64), std::uint64_t, void>>>>>;
+
+/**
+ * @brief Describes a single field within a Bitfield buffer.
+ *
+ * If ValueT is a signed integral type and bit_width is smaller than sizeof(ValueT) * 8,
+ * Bitfield::get performs two's-complement sign extension after extraction.
+ */
+template <std::size_t index, std::size_t bit_width, typename ValueT = DefaultValueTypeT<bit_width>>
+requires(
+    std::is_trivial_v<ValueT> && sizeof(ValueT) <= sizeof(std::uint64_t)
+    && (std::is_integral_v<ValueT> || std::is_enum_v<ValueT>) && (sizeof(ValueT) * 8) >= bit_width)
+struct BitfieldMember : BitfieldMemberTag {
+    static_assert(bit_width > 0 && bit_width <= 64);
+
+    static constexpr std::size_t kIndex = index;
+    static constexpr std::size_t kBitWidth = bit_width;
+
+    using ValueType = ValueT;
+};
+
+template <typename T>
+concept is_bitfield_member = std::derived_from<T, BitfieldMemberTag>;
+
+/**
+ * @brief Fixed-layout little-endian bitfield over a byte buffer.
+ *
+ * Bitfield provides compile-time defined bitfield access on top of a
+ * std::byte buffer, with a layout that is independent of CPU endianness
+ * and compiler-specific struct bitfield rules.
+ *
+ * Bit indexing follows a fixed little-endian bitstream convention:
+ *   - bit 0   is the least significant bit of data[0]
+ *   - bit 7   is the most significant bit of data[0]
+ *   - bit 8   is the least significant bit of data[1]
+ *   - and so on: bit N belongs to data[N / 8], at position (N % 8)
+ *
+ * This mapping is the same on all architectures, regardless of whether
+ * the target CPU is little-endian or big-endian.
+ *
+ * Fields are described by BitfieldMember<index, bit_width> types, which
+ * define the starting bit index and width. Access is performed via:
+ *   - Bitfield<size_in_bytes>::get<Member>(...) to read a field
+ *   - Bitfield<size_in_bytes>::set<Member>(...) to write a field
+ *
+ * The implementation:
+ *   - operates only on std::byte and integer/enum types (bitwise extraction)
+ *   - supports signed integral types via two's-complement sign extension
+ *   - does not use or rely on C++ struct bitfields
+ *   - enforces bounds and width constraints at compile time where possible
+ *   - does not perform any implicit initialization or runtime bounds checks
+ *
+ * Notes on usage and safety:
+ *   - This type is intended to be zero‑overhead. The `data` buffer is
+ *     intentionally left uninitialized; the user is responsible for
+ *     initializing it (e.g. `Bitfield<...> bf{};`) before reading.
+ *   - Pointer‑based `get`/`set` overloads assume that the caller provides
+ *     a buffer of at least `size_in_bytes` bytes. No runtime bounds checking
+ *     is performed; out‑of‑bounds access is a caller ub.
+ *
+ * This type is intended for protocol headers, binary payloads, and other
+ * data formats that explicitly define a little-endian bit layout.
+ *
+ * Usage example:
+ *     struct MyBitfield : Bitfield<4> {
+ *         using Id = BitfieldMember<0, 4>;
+ *         using Flag = BitfieldMember<4, 1>;
+ *         using Length = BitfieldMember<5, 27>;
+ *     } bf{};
+ *     bf.set<MyBitfield::Id>(0xA);
+ *     bf.set<MyBitfield::Flag>(true);
+ *     bf.set<MyBitfield::Length>(512);
+ *     assert(bf.get<MyBitfield::Id>() == 0xA);
+ *     assert(bf.get<MyBitfield::Flag>() == true);
+ *     assert(bf.get<MyBitfield::Length>() == 512);
+ *
+ * @tparam size_in_bytes size of the underlying buffer in bytes
+ */
+template <std::size_t size_in_bytes>
+struct Bitfield {
+private:
+    template <is_bitfield_member Member>
+    static consteval bool check_member() {
+        constexpr std::size_t first_bit = Member::kIndex;
+        constexpr std::size_t bit_width = Member::kBitWidth;
+        constexpr std::size_t last_bit = first_bit + bit_width;
+        constexpr std::size_t first_byte = first_bit / 8;
+        constexpr std::size_t last_byte = (last_bit + 7) / 8;
+        constexpr std::size_t span_bytes = last_byte - first_byte;
+
+        return bit_width > 0                        //
+            && first_bit < kSizeInBits              //
+            && bit_width <= kSizeInBits - first_bit //
+            && span_bytes > 0                       //
+            && span_bytes <= sizeof(std::uint64_t); //
+    }
+
+    template <std::size_t span_bytes>
+    using BestWordForSpan = std::conditional_t<
+        (span_bytes <= 1), std::uint8_t,
+        std::conditional_t<
+            (span_bytes <= 2), std::uint16_t,
+            std::conditional_t<(span_bytes <= 4), std::uint32_t, std::uint64_t>>>;
+
+public:
+    static_assert(size_in_bytes > 0);
+    static_assert(size_in_bytes <= std::numeric_limits<std::size_t>::max() / 8);
+
+    static constexpr std::size_t kSizeInBytes = size_in_bytes;
+    static constexpr std::size_t kSizeInBits = size_in_bytes * 8;
+
+    template <is_bitfield_member Member>
+    requires(check_member<Member>())
+    [[nodiscard]] static constexpr auto get(const std::byte* src) noexcept -> Member::ValueType {
+        return read_bits<Member>(src);
+    }
+
+    template <is_bitfield_member Member>
+    requires(check_member<Member>())
+    static constexpr void set(Member::ValueType value, std::byte* dst) noexcept {
+        write_bits<Member>(value, dst);
+    }
+
+    template <is_bitfield_member Member>
+    requires(check_member<Member>())
+    [[nodiscard]] constexpr auto get() const noexcept -> Member::ValueType {
+        return get<Member>(data);
+    }
+
+    template <is_bitfield_member Member>
+    requires(check_member<Member>()) constexpr void set(Member::ValueType value) noexcept {
+        set<Member>(value, data);
+    }
+
+    // Buffer is intentionally left uninitialized for zero-cost construction
+    std::byte data[kSizeInBytes];
+
+    struct Ref {
+        constexpr explicit Ref(std::byte* ptr) noexcept
+            : ptr_(ptr) {}
+
+        template <is_bitfield_member Member>
+        requires(check_member<Member>())
+        [[nodiscard]] constexpr auto get() const noexcept -> Member::ValueType {
+            return Bitfield::template get<Member>(ptr_);
+        }
+
+        template <is_bitfield_member Member>
+        requires(check_member<Member>()) constexpr void set(Member::ValueType value) noexcept {
+            Bitfield::template set<Member>(value, ptr_);
+        }
+
+    private:
+        std::byte* ptr_;
+    };
+
+    struct CRef {
+        constexpr explicit CRef(const std::byte* ptr) noexcept
+            : ptr_(ptr) {}
+
+        template <is_bitfield_member Member>
+        requires(check_member<Member>())
+        [[nodiscard]] constexpr auto get() const noexcept -> Member::ValueType {
+            return Bitfield::template get<Member>(ptr_);
+        }
+
+    private:
+        const std::byte* ptr_;
+    };
+
+private:
+    template <is_bitfield_member Member>
+    [[nodiscard]] static constexpr auto read_bits(const std::byte* src) noexcept
+        -> Member::ValueType {
+
+        constexpr std::size_t first_bit = Member::kIndex;
+        constexpr std::size_t bit_width = Member::kBitWidth;
+        constexpr std::size_t last_bit = first_bit + bit_width;
+        constexpr std::size_t first_byte = first_bit / 8;
+        constexpr std::size_t last_byte = (last_bit + 7) / 8;
+        constexpr std::size_t span_bytes = last_byte - first_byte;
+
+        using Word = BestWordForSpan<span_bytes>;
+
+        Word accum = 0;
+
+        for (std::size_t i = 0; i < span_bytes; ++i) {
+            auto b = std::to_integer<std::uint8_t>(src[first_byte + i]);
+            accum |= (Word(b) << (8 * i));
+        }
+
+        constexpr std::size_t inner_offset = first_bit - (first_byte * 8);
+
+        constexpr Word full_mask =
+            (bit_width == sizeof(Word) * 8) ? ~Word(0) : ((Word(1) << bit_width) - 1);
+
+        const Word value = (accum >> inner_offset) & full_mask;
+
+        using ValueType = Member::ValueType;
+        if constexpr (std::is_integral_v<ValueType> && std::is_signed_v<ValueType>) {
+            // Use the "shift-left-then-shift-right" idiom for sign extension.
+            // This relies on C++20's mandatory arithmetic right shift and defined left-shift
+            // overflow.
+            static_assert(__cplusplus >= 202002L);
+
+            using ComputeType =
+                std::conditional_t<(sizeof(Word) < sizeof(int)), int, std::make_signed_t<Word>>;
+            constexpr int shift_amount = (sizeof(ComputeType) * 8) - bit_width;
+            return static_cast<ValueType>(
+                (static_cast<ComputeType>(value) << shift_amount) >> shift_amount);
+        } else {
+            return static_cast<ValueType>(value);
+        }
+    }
+
+    template <is_bitfield_member Member>
+    static constexpr void write_bits(Member::ValueType value, std::byte* dst) noexcept {
+
+        constexpr std::size_t first_bit = Member::kIndex;
+        constexpr std::size_t bit_width = Member::kBitWidth;
+        constexpr std::size_t last_bit = first_bit + bit_width;
+        constexpr std::size_t first_byte = first_bit / 8;
+        constexpr std::size_t last_byte = (last_bit + 7) / 8;
+        constexpr std::size_t span_bytes = last_byte - first_byte;
+
+        using Word = BestWordForSpan<span_bytes>;
+
+        Word accum = 0;
+
+        for (std::size_t i = 0; i < span_bytes; ++i) {
+            auto b = std::to_integer<std::uint8_t>(dst[first_byte + i]);
+            accum |= (Word(b) << (8 * i));
+        }
+
+        constexpr std::size_t inner_offset = first_bit - (first_byte * 8);
+
+        constexpr Word full_mask =
+            (bit_width == sizeof(Word) * 8) ? ~Word(0) : ((Word(1) << bit_width) - 1);
+
+        accum &= ~(full_mask << inner_offset);
+
+        const Word v = (Word(value) & full_mask) << inner_offset;
+        accum |= v;
+
+        for (std::size_t i = 0; i < span_bytes; ++i) {
+            std::uint8_t b = static_cast<std::uint8_t>((accum >> (8 * i)) & 0xFF);
+            dst[first_byte + i] = std::byte{b};
+        }
+    }
+};
+
+} // namespace librmcs::core::utility
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/immovable.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/immovable.hpp
new file mode 100644
index 0000000..7fd9101
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/immovable.hpp
@@ -0,0 +1,15 @@
+#pragma once
+
+namespace librmcs::core::utility {
+
+class Immovable {
+public:
+    Immovable() = default;
+    Immovable(const Immovable&) = delete;
+    Immovable& operator=(const Immovable&) = delete;
+    Immovable(Immovable&&) = delete;
+    Immovable& operator=(Immovable&&) = delete;
+    ~Immovable() = default;
+};
+
+} // namespace librmcs::core::utility
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/stack_allocator.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/stack_allocator.hpp
new file mode 100644
index 0000000..ac7b094
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/stack_allocator.hpp
@@ -0,0 +1,95 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <span>
+
+#include "core/src/utility/assert.hpp"
+
+namespace librmcs::core::utility {
+
+template <bool debug>
+class BasicStackAllocator;
+
+template <>
+class BasicStackAllocator<false> {
+public:
+    constexpr explicit BasicStackAllocator(std::span<std::byte> buffer)
+        : top_(buffer.data())
+        , end_(buffer.data() + buffer.size()) {}
+
+    BasicStackAllocator(const BasicStackAllocator&) = delete;
+    BasicStackAllocator& operator=(const BasicStackAllocator&) = delete;
+    BasicStackAllocator(BasicStackAllocator&&) = delete;
+    BasicStackAllocator& operator=(BasicStackAllocator&&) = delete;
+    ~BasicStackAllocator() = default;
+
+    constexpr void* allocate(std::size_t n) noexcept {
+        constexpr std::size_t align = alignof(std::max_align_t);
+        n = (n + align - 1) & ~(align - 1);
+
+        const std::size_t remaining = static_cast<std::size_t>(end_ - top_);
+        if (remaining < n) [[unlikely]]
+            return nullptr;
+
+        void* p = top_;
+        top_ += n;
+        return p;
+    }
+
+    constexpr void deallocate(void* p, size_t n) noexcept {
+        (void)n;
+        top_ = static_cast<std::byte*>(p);
+    }
+
+protected:
+    std::byte *top_, *end_;
+};
+
+template <>
+class BasicStackAllocator<true> : private BasicStackAllocator<false> {
+    using Impl = BasicStackAllocator<false>;
+
+public:
+    constexpr explicit BasicStackAllocator(std::span<std::byte> buffer)
+        : Impl(buffer) {}
+
+    void* allocate(std::size_t n) noexcept {
+        assert_always(n > 0);
+        void* p = Impl::allocate(n);
+        if (!p)
+            return nullptr;
+        assert_always(reinterpret_cast<std::uintptr_t>(p) % alignof(std::max_align_t) == 0);
+
+        assert_always(lifo_check_depth_ < kMaxAllocs);
+        lifo_check_stack_[lifo_check_depth_++] = p;
+
+        return p;
+    }
+
+    void deallocate(void* p, std::size_t n) noexcept {
+        assert_always(p);
+        assert_always(lifo_check_depth_ > 0);
+        assert_always(p == lifo_check_stack_[lifo_check_depth_ - 1]);
+
+        constexpr std::size_t align = alignof(std::max_align_t);
+        n = (n + align - 1) & ~(align - 1);
+        assert_always(p == Impl::top_ - n);
+
+        Impl::deallocate(p, n);
+        --lifo_check_depth_;
+    }
+
+private:
+    static constexpr std::size_t kMaxAllocs = 16;
+    void* lifo_check_stack_[kMaxAllocs]{};
+    std::size_t lifo_check_depth_ = 0;
+};
+
+#ifdef NDEBUG
+using StackAllocator = BasicStackAllocator<false>;
+#else
+using StackAllocator = BasicStackAllocator<true>;
+#endif
+
+} // namespace librmcs::core::utility
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/uncopyable.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/uncopyable.hpp
new file mode 100644
index 0000000..ab45967
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/uncopyable.hpp
@@ -0,0 +1,15 @@
+#pragma once
+
+namespace librmcs::core::utility {
+
+class Uncopyable {
+public:
+    Uncopyable() = default;
+    Uncopyable(const Uncopyable&) = delete;
+    Uncopyable& operator=(const Uncopyable&) = delete;
+    Uncopyable(Uncopyable&&) = default;
+    Uncopyable& operator=(Uncopyable&&) = default;
+    ~Uncopyable() = default;
+};
+
+} // namespace librmcs::core::utility
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/verify.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/verify.hpp
new file mode 100644
index 0000000..7aecf41
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/verify.hpp
@@ -0,0 +1,19 @@
+#pragma once
+
+#define LIBRMCS_VERIFY(_cond, _ret) \
+    do {                            \
+        if (_cond) {                \
+            (void)0;                \
+        } else {                    \
+            return _ret;            \
+        }                           \
+    } while (false)
+
+#define LIBRMCS_VERIFY_LIKELY(_cond, _ret) \
+    do {                                   \
+        if (_cond) [[likely]] {            \
+            (void)0;                       \
+        } else {                           \
+            return _ret;                   \
+        }                                  \
+    } while (false)
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/CMakeLists.txt b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/CMakeLists.txt
new file mode 100644
index 0000000..a1f1bc8
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/CMakeLists.txt
@@ -0,0 +1,168 @@
+cmake_minimum_required(VERSION 3.28)
+set(CMAKE_CXX_SCAN_FOR_MODULES OFF)
+
+project(librmcs-sdk VERSION 3 LANGUAGES C CXX)
+
+if(NOT DEFINED LIBRMCS_PROJECT_VERSION OR LIBRMCS_PROJECT_VERSION STREQUAL "")
+    execute_process(
+        COMMAND ".scripts/generate_version"
+        WORKING_DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/.."
+        OUTPUT_VARIABLE LIBRMCS_PROJECT_VERSION
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        COMMAND_ERROR_IS_FATAL ANY
+    )
+endif()
+message(STATUS "Librmcs project version: ${LIBRMCS_PROJECT_VERSION}")
+
+# Set C++ standard to C++23
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED True)
+
+# Set C standard to C11
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED True)
+
+# Disable GNU extensions
+set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_C_EXTENSIONS OFF)
+
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+# Add compiler options based on compiler
+if(MSVC)
+    add_compile_options(/W4 /Zc:preprocessor)
+    add_compile_definitions(NOMINMAX _CRT_SECURE_NO_WARNINGS)
+else()
+    # GCC/Clang
+    add_compile_options(
+        -g -Wall -Wextra -Wpedantic -fvisibility=hidden
+        $<$<COMPILE_LANGUAGE:CXX>:-fvisibility-inlines-hidden>
+    )
+endif()
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>DLL")
+
+# Get project sources
+file(GLOB_RECURSE PROJECT_SOURCE CONFIGURE_DEPENDS
+    ${CMAKE_CURRENT_SOURCE_DIR}/../core/src/*.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/../core/src/*.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/*.c
+)
+
+option(BUILD_STATIC_LIBRMCS "Build static librmcs" ON)
+if(BUILD_STATIC_LIBRMCS)
+    add_library(
+        ${PROJECT_NAME} STATIC
+        ${PROJECT_SOURCE}
+    )
+    target_compile_definitions(${PROJECT_NAME} PUBLIC STATIC_LINKING_LIBRMCS)
+    message(STATUS "Building static librmcs")
+else()
+    add_library(
+        ${PROJECT_NAME} SHARED
+        ${PROJECT_SOURCE}
+    )
+    message(STATUS "Building shared librmcs")
+endif()
+
+target_compile_definitions(${PROJECT_NAME} PRIVATE LIBRMCS_PROJECT_VERSION_STRING="${LIBRMCS_PROJECT_VERSION}")
+target_compile_definitions(${PROJECT_NAME} PRIVATE BUILDING_LIBRMCS)
+
+target_include_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/../core/include)
+target_include_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/../host/include)
+target_include_directories(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/..)
+
+# Force optimization in debug mode
+if(MSVC)
+    target_compile_options(${PROJECT_NAME} PRIVATE $<$<CONFIG:Debug>:/O2>)
+else()
+    target_compile_options(${PROJECT_NAME} PRIVATE $<$<CONFIG:Debug>:-O3>)
+endif()
+
+if(WIN32)
+    find_package(PkgConfig REQUIRED)
+    pkg_check_modules(LIBUSB REQUIRED libusb-1.0)
+    target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE ${LIBUSB_INCLUDE_DIRS})
+    target_link_directories(${PROJECT_NAME} PUBLIC "${VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_TRIPLET}/lib")
+    target_link_libraries(${PROJECT_NAME} PUBLIC ${LIBUSB_LIBRARIES})
+elseif(UNIX)
+    find_package(PkgConfig REQUIRED)
+    pkg_check_modules(LIBUSB REQUIRED libusb-1.0)
+    target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE ${LIBUSB_INCLUDE_DIRS})
+    target_link_libraries(${PROJECT_NAME} PUBLIC ${LIBUSB_LIBRARIES})
+    find_package(Threads REQUIRED)
+    target_link_libraries(${PROJECT_NAME} PUBLIC Threads::Threads)
+endif()
+
+# Enable LTO optimization
+set_target_properties(${PROJECT_NAME} PROPERTIES
+    INTERPROCEDURAL_OPTIMIZATION TRUE
+)
+
+install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION lib ARCHIVE DESTINATION lib)
+install(DIRECTORY ../core/include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION include)
+
+# include(CTest)
+# if(BUILD_TESTING)
+#     include(FetchContent)
+#     set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+#     FetchContent_Declare(
+#         googletest
+#         URL https://github.com/google/googletest/archive/refs/tags/v1.14.0.zip
+#         DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+#     )
+#     FetchContent_MakeAvailable(googletest)
+
+#     file(GLOB_RECURSE LIBRMCS_TEST_SOURCES CONFIGURE_DEPENDS
+#         ${PROJECT_SOURCE_DIR}/tests/*.cpp
+#     )
+
+#     add_executable(librmcs_tests
+#         ${LIBRMCS_TEST_SOURCES}
+#     )
+#     target_link_libraries(librmcs_tests PRIVATE gtest_main ${PROJECT_NAME})
+
+#     add_test(NAME librmcs_tests COMMAND librmcs_tests)
+# endif()
+
+if(UNIX AND NOT APPLE)
+    if(NOT DEFINED LIBRMCS_DEBIAN_VERSION OR LIBRMCS_DEBIAN_VERSION STREQUAL "")
+        execute_process(
+            COMMAND ".scripts/generate_version" "--format" "debian"
+            WORKING_DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/.."
+            OUTPUT_VARIABLE LIBRMCS_DEBIAN_VERSION
+            OUTPUT_STRIP_TRAILING_WHITESPACE
+            COMMAND_ERROR_IS_FATAL ANY
+        )
+    endif()
+    message(STATUS "Librmcs Debian package version: ${LIBRMCS_DEBIAN_VERSION}")
+
+    set(CPACK_GENERATOR "DEB")
+
+    set(ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
+    if(ARCHITECTURE STREQUAL "x86_64")
+        set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE "amd64")
+    elseif(ARCHITECTURE STREQUAL "aarch64")
+        set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE "arm64")
+    else()
+        message(FATAL_ERROR "Unsupported architecture: ${ARCHITECTURE}.")
+    endif()
+
+    set(CPACK_DEBIAN_PACKAGE_NAME "${PROJECT_NAME}")
+    set(CPACK_DEBIAN_PACKAGE_VERSION "${LIBRMCS_DEBIAN_VERSION}")
+    set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Zihan Qin <zihanqin2048@gmail.com>")
+    set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "A portable library implements the core functionality of RMCS")
+    set(CPACK_DEBIAN_PACKAGE_HOMEPAGE "https://github.com/Alliance-Algorithm/librmcs")
+    set(CPACK_DEBIAN_PACKAGE_DEPENDS "libusb-1.0-0-dev")
+    set(CPACK_DEBIAN_PACKAGE_SECTION "libs")
+    set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
+
+    string(TOLOWER "${CMAKE_BUILD_TYPE}" PACKAGE_BUILD_MODE)
+    set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${LIBRMCS_PROJECT_VERSION}-${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}-${PACKAGE_BUILD_MODE}")
+    set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/../LICENSE")
+
+    include(CPack)
+endif()
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/CMakePresets.json b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/CMakePresets.json
new file mode 100644
index 0000000..25d2ef1
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/CMakePresets.json
@@ -0,0 +1,25 @@
+{
+    "version": 4,
+    "configurePresets": [
+        {
+            "name": "base",
+            "hidden": true,
+            "generator": "Ninja",
+            "binaryDir": "${sourceDir}/build"
+        },
+        {
+            "name": "linux-debug",
+            "inherits": "base",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Debug"
+            }
+        },
+        {
+            "name": "linux-release",
+            "inherits": "base",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release"
+            }
+        }
+    ]
+}
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/agent/c_board.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/agent/c_board.hpp
new file mode 100644
index 0000000..1a8912a
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/agent/c_board.hpp
@@ -0,0 +1,125 @@
+#pragma once
+
+#include <stdexcept>
+#include <string_view>
+
+#include <librmcs/data/datas.hpp>
+#include <librmcs/protocol/handler.hpp>
+
+namespace librmcs::agent {
+
+class CBoard : private data::DataCallback {
+public:
+    explicit CBoard(std::string_view serial_filter = {})
+        : handler_(0xA11C, 0xD401, serial_filter, *this) {}
+
+    CBoard(const CBoard&) = delete;
+    CBoard& operator=(const CBoard&) = delete;
+    CBoard(CBoard&&) = delete;
+    CBoard& operator=(CBoard&&) = delete;
+    ~CBoard() override = default;
+
+    class PacketBuilder {
+        friend class CBoard;
+
+    public:
+        PacketBuilder& can1_transmit(const librmcs::data::CanDataView& data) {
+            if (!builder_.write_can(data::DataId::kCan1, data)) [[unlikely]]
+                throw std::invalid_argument{"CAN1 transmission failed: Invalid CAN data"};
+            return *this;
+        }
+        PacketBuilder& can2_transmit(const librmcs::data::CanDataView& data) {
+            if (!builder_.write_can(data::DataId::kCan2, data)) [[unlikely]]
+                throw std::invalid_argument{"CAN2 transmission failed: Invalid CAN data"};
+            return *this;
+        }
+
+        PacketBuilder& dbus_transmit(const librmcs::data::UartDataView& data) {
+            if (!builder_.write_uart(data::DataId::kUartDbus, data)) [[unlikely]]
+                throw std::invalid_argument{"DBUS transmission failed: Invalid UART data"};
+            return *this;
+        }
+        PacketBuilder& uart1_transmit(const librmcs::data::UartDataView& data) {
+            if (!builder_.write_uart(data::DataId::kUart1, data)) [[unlikely]]
+                throw std::invalid_argument{"UART1 transmission failed: Invalid UART data"};
+            return *this;
+        }
+        PacketBuilder& uart2_transmit(const librmcs::data::UartDataView& data) {
+            if (!builder_.write_uart(data::DataId::kUart2, data)) [[unlikely]]
+                throw std::invalid_argument{"UART2 transmission failed: Invalid UART data"};
+            return *this;
+        }
+
+        PacketBuilder& gpio_digital_write(const librmcs::data::GpioDigitalDataView& data) {
+            if (data.channel < 1 || data.channel > 7 || !builder_.write_gpio_digital_data(data))
+                [[unlikely]]
+                throw std::invalid_argument{"GPIO digital transmission failed: Invalid GPIO data"};
+            return *this;
+        }
+        PacketBuilder& gpio_digital_read(const librmcs::data::GpioReadConfigView& data) {
+            if (data.channel < 1 || data.channel > 7
+                || (data.channel == 6 && (data.rising_edge || data.falling_edge))
+                || !builder_.write_gpio_digital_read_config(data)) [[unlikely]]
+                throw std::invalid_argument{
+                    "GPIO digital read configuration transmission failed: Invalid GPIO data"};
+            return *this;
+        }
+        PacketBuilder& gpio_analog_write(const librmcs::data::GpioAnalogDataView& data) {
+            if (data.channel < 1 || data.channel > 7 || !builder_.write_gpio_analog_data(data))
+                [[unlikely]]
+                throw std::invalid_argument{"GPIO analog transmission failed: Invalid GPIO data"};
+            return *this;
+        }
+
+    private:
+        explicit PacketBuilder(host::protocol::Handler& handler) noexcept
+            : builder_(handler.start_transmit()) {}
+
+        host::protocol::Handler::PacketBuilder builder_;
+    };
+    PacketBuilder start_transmit() noexcept { return PacketBuilder{handler_}; }
+
+private:
+    bool can_receive_callback(data::DataId id, const data::CanDataView& data) final {
+        switch (id) {
+        case data::DataId::kCan1: can1_receive_callback(data); return true;
+        case data::DataId::kCan2: can2_receive_callback(data); return true;
+        default: return false;
+        }
+    }
+
+    virtual void can1_receive_callback(const librmcs::data::CanDataView& data) { (void)data; }
+    virtual void can2_receive_callback(const librmcs::data::CanDataView& data) { (void)data; }
+
+    bool uart_receive_callback(data::DataId id, const data::UartDataView& data) final {
+        switch (id) {
+        case data::DataId::kUartDbus: dbus_receive_callback(data); return true;
+        case data::DataId::kUart1: uart1_receive_callback(data); return true;
+        case data::DataId::kUart2: uart2_receive_callback(data); return true;
+        default: return false;
+        }
+    }
+
+    virtual void dbus_receive_callback(const librmcs::data::UartDataView& data) { (void)data; }
+    virtual void uart1_receive_callback(const librmcs::data::UartDataView& data) { (void)data; }
+    virtual void uart2_receive_callback(const librmcs::data::UartDataView& data) { (void)data; }
+
+    void
+        gpio_digital_read_result_callback(const librmcs::data::GpioDigitalDataView& data) override {
+        (void)data;
+    }
+    void gpio_analog_read_result_callback(const librmcs::data::GpioAnalogDataView& data) override {
+        (void)data;
+    }
+
+    void accelerometer_receive_callback(const librmcs::data::AccelerometerDataView& data) override {
+        (void)data;
+    }
+    void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override {
+        (void)data;
+    }
+
+    host::protocol::Handler handler_;
+};
+
+} // namespace librmcs::agent
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/agent/rmcs_board.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/agent/rmcs_board.hpp
new file mode 100644
index 0000000..8a270e9
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/agent/rmcs_board.hpp
@@ -0,0 +1,132 @@
+#pragma once
+
+#include <stdexcept>
+#include <string_view>
+
+#include <librmcs/data/datas.hpp>
+#include <librmcs/protocol/handler.hpp>
+
+namespace librmcs::agent {
+
+class RmcsBoard : private data::DataCallback {
+public:
+    explicit RmcsBoard(std::string_view serial_filter = {})
+        : handler_(0xA11C, 0xAF01, serial_filter, *this) {}
+
+    RmcsBoard(const RmcsBoard&) = delete;
+    RmcsBoard& operator=(const RmcsBoard&) = delete;
+    RmcsBoard(RmcsBoard&&) = delete;
+    RmcsBoard& operator=(RmcsBoard&&) = delete;
+    ~RmcsBoard() override = default;
+
+    class PacketBuilder {
+        friend class RmcsBoard;
+
+    public:
+        PacketBuilder& can0_transmit(const librmcs::data::CanDataView& data) {
+            if (!builder_.write_can(data::DataId::kCan0, data)) [[unlikely]]
+                throw std::invalid_argument{"CAN0 transmission failed: Invalid CAN data"};
+            return *this;
+        }
+        PacketBuilder& can1_transmit(const librmcs::data::CanDataView& data) {
+            if (!builder_.write_can(data::DataId::kCan1, data)) [[unlikely]]
+                throw std::invalid_argument{"CAN1 transmission failed: Invalid CAN data"};
+            return *this;
+        }
+        PacketBuilder& can2_transmit(const librmcs::data::CanDataView& data) {
+            if (!builder_.write_can(data::DataId::kCan2, data)) [[unlikely]]
+                throw std::invalid_argument{"CAN2 transmission failed: Invalid CAN data"};
+            return *this;
+        }
+        PacketBuilder& can3_transmit(const librmcs::data::CanDataView& data) {
+            if (!builder_.write_can(data::DataId::kCan3, data)) [[unlikely]]
+                throw std::invalid_argument{"CAN3 transmission failed: Invalid CAN data"};
+            return *this;
+        }
+
+        PacketBuilder& dbus_transmit(const librmcs::data::UartDataView& data) {
+            if (!builder_.write_uart(data::DataId::kUartDbus, data)) [[unlikely]]
+                throw std::invalid_argument{"DBUS transmission failed: Invalid UART data"};
+            return *this;
+        }
+        PacketBuilder& uart0_transmit(const librmcs::data::UartDataView& data) {
+            if (!builder_.write_uart(data::DataId::kUart0, data)) [[unlikely]]
+                throw std::invalid_argument{"UART0 transmission failed: Invalid UART data"};
+            return *this;
+        }
+        PacketBuilder& uart1_transmit(const librmcs::data::UartDataView& data) {
+            if (!builder_.write_uart(data::DataId::kUart1, data)) [[unlikely]]
+                throw std::invalid_argument{"UART1 transmission failed: Invalid UART data"};
+            return *this;
+        }
+        PacketBuilder& uart2_transmit(const librmcs::data::UartDataView& data) {
+            if (!builder_.write_uart(data::DataId::kUart2, data)) [[unlikely]]
+                throw std::invalid_argument{"UART2 transmission failed: Invalid UART data"};
+            return *this;
+        }
+        PacketBuilder& uart3_transmit(const librmcs::data::UartDataView& data) {
+            if (!builder_.write_uart(data::DataId::kUart3, data)) [[unlikely]]
+                throw std::invalid_argument{"UART3 transmission failed: Invalid UART data"};
+            return *this;
+        }
+
+    private:
+        explicit PacketBuilder(host::protocol::Handler& handler) noexcept
+            : builder_(handler.start_transmit()) {}
+
+        host::protocol::Handler::PacketBuilder builder_;
+    };
+    PacketBuilder start_transmit() noexcept { return PacketBuilder{handler_}; }
+
+private:
+    bool can_receive_callback(data::DataId id, const data::CanDataView& data) final {
+        switch (id) {
+        case data::DataId::kCan0: can0_receive_callback(data); return true;
+        case data::DataId::kCan1: can1_receive_callback(data); return true;
+        case data::DataId::kCan2: can2_receive_callback(data); return true;
+        case data::DataId::kCan3: can3_receive_callback(data); return true;
+        default: return false;
+        }
+    }
+
+    virtual void can0_receive_callback(const librmcs::data::CanDataView& data) { (void)data; }
+    virtual void can1_receive_callback(const librmcs::data::CanDataView& data) { (void)data; }
+    virtual void can2_receive_callback(const librmcs::data::CanDataView& data) { (void)data; }
+    virtual void can3_receive_callback(const librmcs::data::CanDataView& data) { (void)data; }
+
+    bool uart_receive_callback(data::DataId id, const data::UartDataView& data) final {
+        switch (id) {
+        case data::DataId::kUartDbus: dbus_receive_callback(data); return true;
+        case data::DataId::kUart0: uart0_receive_callback(data); return true;
+        case data::DataId::kUart1: uart1_receive_callback(data); return true;
+        case data::DataId::kUart2: uart2_receive_callback(data); return true;
+        case data::DataId::kUart3: uart3_receive_callback(data); return true;
+        default: return false;
+        }
+    }
+
+    virtual void dbus_receive_callback(const librmcs::data::UartDataView& data) { (void)data; }
+    virtual void uart0_receive_callback(const librmcs::data::UartDataView& data) { (void)data; }
+    virtual void uart1_receive_callback(const librmcs::data::UartDataView& data) { (void)data; }
+    virtual void uart2_receive_callback(const librmcs::data::UartDataView& data) { (void)data; }
+    virtual void uart3_receive_callback(const librmcs::data::UartDataView& data) { (void)data; }
+
+    void
+        gpio_digital_read_result_callback(const librmcs::data::GpioDigitalDataView& data) override {
+        (void)data;
+    }
+    void gpio_analog_read_result_callback(const librmcs::data::GpioAnalogDataView& data) override {
+        (void)data;
+    }
+
+    void accelerometer_receive_callback(const librmcs::data::AccelerometerDataView& data) override {
+        (void)data;
+    }
+    void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override {
+        (void)data;
+    }
+
+    host::protocol::Handler handler_;
+};
+
+} // namespace librmcs::agent
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/export.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/export.hpp
new file mode 100644
index 0000000..12b4431
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/export.hpp
@@ -0,0 +1,19 @@
+#pragma once
+
+#if defined(_MSC_VER)
+# ifdef BUILDING_LIBRMCS
+#  define LIBRMCS_API __declspec(dllexport)
+# elif defined(STATIC_LINKING_LIBRMCS)
+#  define LIBRMCS_API
+# else
+#  define LIBRMCS_API __declspec(dllimport)
+# endif
+#elif defined(__GNUC__) || defined(__clang__)
+# ifdef BUILDING_LIBRMCS
+#  define LIBRMCS_API __attribute__((visibility("default")))
+# else
+#  define LIBRMCS_API
+# endif
+#else
+# define LIBRMCS_API
+#endif
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/protocol/handler.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/protocol/handler.hpp
new file mode 100644
index 0000000..b40059d
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/protocol/handler.hpp
@@ -0,0 +1,62 @@
+#pragma once
+
+#include <cstdint>
+#include <string_view>
+
+#include <librmcs/data/datas.hpp>
+#include <librmcs/export.hpp>
+
+namespace librmcs::host::protocol {
+
+class LIBRMCS_API Handler {
+public:
+    class LIBRMCS_API PacketBuilder {
+    public:
+        PacketBuilder(const PacketBuilder&) = delete;
+        PacketBuilder& operator=(const PacketBuilder&) = delete;
+        PacketBuilder(PacketBuilder&&) = delete;
+        PacketBuilder& operator=(PacketBuilder&&) = delete;
+
+        ~PacketBuilder() noexcept;
+
+        bool write_can(data::DataId field_id, const data::CanDataView& view) noexcept;
+
+        bool write_uart(data::DataId field_id, const data::UartDataView& view) noexcept;
+
+        bool write_gpio_digital_data(const data::GpioDigitalDataView& view) noexcept;
+
+        bool write_gpio_digital_read_config(const data::GpioReadConfigView& view) noexcept;
+
+        bool write_gpio_analog_data(const data::GpioAnalogDataView& view) noexcept;
+
+        bool write_imu_accelerometer(const data::AccelerometerDataView& view) noexcept;
+
+        bool write_imu_gyroscope(const data::GyroscopeDataView& view) noexcept;
+
+    private:
+        friend class Handler;
+
+        explicit PacketBuilder(void* transport) noexcept;
+
+        alignas(std::uintptr_t) std::uint8_t storage_[6 * sizeof(std::uintptr_t)];
+    };
+
+    Handler(
+        uint16_t usb_vid, int32_t usb_pid, std::string_view serial_filter,
+        data::DataCallback& callback);
+
+    Handler(const Handler&) = delete;
+    Handler& operator=(const Handler&) = delete;
+    Handler(Handler&& other) noexcept;
+    Handler& operator=(Handler&& other) noexcept;
+
+    ~Handler() noexcept;
+
+    PacketBuilder start_transmit() noexcept;
+
+private:
+    class Impl;
+    Impl* impl_ = nullptr;
+};
+
+} // namespace librmcs::host::protocol
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/logging/logging.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/logging/logging.hpp
new file mode 100644
index 0000000..c497d17
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/logging/logging.hpp
@@ -0,0 +1,163 @@
+#pragma once
+
+#include <cstdint>
+#include <cstdio>
+#include <format>
+#include <iostream>
+#include <print>
+#include <string_view>
+#include <utility>
+
+#include "core/src/utility/assert.hpp"
+
+namespace librmcs::host::logging {
+
+enum class Level : std::uint8_t {
+    kTrace = 0,
+    kDebug = 1,
+    kInfo = 2,
+    kWarn = 3,
+    kErr = 4,
+    kCritical = 5,
+    kOff = 6,
+};
+
+#ifndef LIBRMCS_LOGGING_LEVEL
+# define LIBRMCS_LOGGING_LEVEL kInfo
+#endif
+
+class Logger {
+public:
+    static constexpr Level kLoggingLevel = Level::LIBRMCS_LOGGING_LEVEL;
+
+    Logger(const Logger&) = delete;
+    Logger& operator=(const Logger&) = delete;
+    Logger(Logger&&) = delete;
+    Logger& operator=(Logger&&) = delete;
+    ~Logger() = default;
+
+public: // Singleton
+    static Logger& get_instance() noexcept {
+        static Logger logger{};
+        return logger;
+    }
+
+public: // Logging
+    static constexpr bool should_log(Level level) { return level >= kLoggingLevel; }
+
+public: // Logging.Formatted
+    template <typename... Args>
+    void trace(std::format_string<Args...> fmt, Args&&... args) {
+        log_internal(Level::kTrace, fmt, std::forward<Args>(args)...);
+    }
+
+    template <typename... Args>
+    void debug(std::format_string<Args...> fmt, Args&&... args) {
+        log_internal(Level::kDebug, fmt, std::forward<Args>(args)...);
+    }
+
+    template <typename... Args>
+    void info(std::format_string<Args...> fmt, Args&&... args) {
+        log_internal(Level::kInfo, fmt, std::forward<Args>(args)...);
+    }
+
+    template <typename... Args>
+    void warn(std::format_string<Args...> fmt, Args&&... args) {
+        log_internal(Level::kWarn, fmt, std::forward<Args>(args)...);
+    }
+
+    template <typename... Args>
+    void error(std::format_string<Args...> fmt, Args&&... args) {
+        log_internal(Level::kErr, fmt, std::forward<Args>(args)...);
+    }
+
+    template <typename... Args>
+    void critical(std::format_string<Args...> fmt, Args&&... args) {
+        log_internal(Level::kCritical, fmt, std::forward<Args>(args)...);
+    }
+
+    template <typename... Args>
+    void log(Level level, std::format_string<Args...> fmt, Args&&... args) {
+        log_internal(level, fmt, std::forward<Args>(args)...);
+    }
+
+public: // Logging.Raw
+    template <typename T>
+    void trace(const T& msg) {
+        log_internal(Level::kTrace, msg);
+    }
+
+    template <typename T>
+    void debug(const T& msg) {
+        log_internal(Level::kDebug, msg);
+    }
+
+    template <typename T>
+    void info(const T& msg) {
+        log_internal(Level::kInfo, msg);
+    }
+
+    template <typename T>
+    void warn(const T& msg) {
+        log_internal(Level::kWarn, msg);
+    }
+
+    template <typename T>
+    void error(const T& msg) {
+        log_internal(Level::kErr, msg);
+    }
+
+    template <typename T>
+    void critical(const T& msg) {
+        log_internal(Level::kCritical, msg);
+    }
+
+    template <typename T>
+    void log(Level level, const T& msg) {
+        log_internal(level, msg);
+    }
+
+private:
+    constexpr Logger() noexcept = default;
+
+    template <typename... Args>
+    void log_internal(Level level, std::format_string<Args...> fmt, Args&&... args) {
+        if (!should_log(level))
+            return;
+
+        print_prefix(level);
+        std::println(std::cerr, fmt, std::forward<Args>(args)...);
+    }
+
+    template <typename T>
+    void log_internal(Level level, const T& msg) {
+        if (!should_log(level))
+            return;
+
+        print_prefix(level);
+        std::cerr << msg << '\n';
+    }
+
+    static void print_prefix(Level level) {
+        std::string_view level_text = [level]() constexpr -> std::string_view {
+            if (level == Level::kTrace)
+                return "trace";
+            if (level == Level::kDebug)
+                return "debug";
+            if (level == Level::kInfo)
+                return "info";
+            if (level == Level::kWarn)
+                return "warn";
+            if (level == Level::kErr)
+                return "error";
+            if (level == Level::kCritical)
+                return "critical";
+            core::utility::assert_failed_debug();
+        }();
+        std::print(std::cerr, "[librmcs] [{}] ", level_text);
+    }
+};
+
+inline Logger& get_logger() { return Logger::get_instance(); }
+
+} // namespace librmcs::host::logging
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/protocol/handler.cpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/protocol/handler.cpp
new file mode 100644
index 0000000..8960fc2
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/protocol/handler.cpp
@@ -0,0 +1,228 @@
+#include "librmcs/protocol/handler.hpp"
+
+#include <cstddef>
+#include <cstdint>
+#include <cstring>
+#include <memory>
+#include <new>
+#include <span>
+#include <string_view>
+#include <utility>
+
+#include "core/src/protocol/deserializer.hpp"
+#include "core/src/protocol/protocol.hpp"
+#include "core/src/protocol/serializer.hpp"
+#include "core/src/utility/assert.hpp"
+#include "host/src/logging/logging.hpp"
+#include "host/src/protocol/stream_buffer.hpp"
+#include "host/src/transport/transport.hpp"
+#include "librmcs/data/datas.hpp"
+
+namespace librmcs::host::protocol {
+
+class Handler::Impl : public core::protocol::DeserializeCallback {
+public:
+    explicit Impl(std::unique_ptr<transport::Transport> transport, data::DataCallback& callback)
+        : transport_(std::move(transport))
+        , callback_(callback)
+        , deserializer_(*this) {
+        transport_->receive([this](std::span<const std::byte> buffer) {
+            // Operating system automatically assembles the packet
+            deserializer_.feed(buffer);
+            deserializer_.finish_transfer();
+        });
+    }
+
+    PacketBuilder start_transmit() { return PacketBuilder{transport_.get()}; }
+
+    void can_deserialized_callback(
+        core::protocol::FieldId id, const data::CanDataView& data) override {
+        if (!callback_.can_receive_callback(id, data))
+            logging::get_logger().error("Unexpected can field id: ", static_cast<int>(id));
+    }
+
+    void uart_deserialized_callback(
+        core::protocol::FieldId id, const data::UartDataView& data) override {
+        if (!callback_.uart_receive_callback(id, data))
+            logging::get_logger().error("Unexpected uart field id: ", static_cast<int>(id));
+    }
+
+    void gpio_digital_data_deserialized_callback(const data::GpioDigitalDataView& data) override {
+        callback_.gpio_digital_read_result_callback(data);
+    }
+
+    void gpio_analog_data_deserialized_callback(const data::GpioAnalogDataView& data) override {
+        callback_.gpio_analog_read_result_callback(data);
+    }
+
+    void gpio_digital_read_config_deserialized_callback(
+        const data::GpioReadConfigView& data) override {
+        (void)data;
+        logging::get_logger().error("Unexpected gpio digital read config field in uplink");
+    }
+
+    void gpio_analog_read_config_deserialized_callback(
+        const data::GpioReadConfigView& data) override {
+        (void)data;
+        logging::get_logger().error("Unexpected gpio analog read config field in uplink");
+    }
+
+    void accelerometer_deserialized_callback(const data::AccelerometerDataView& data) override {
+        callback_.accelerometer_receive_callback(data);
+    }
+
+    void gyroscope_deserialized_callback(const data::GyroscopeDataView& data) override {
+        callback_.gyroscope_receive_callback(data);
+    }
+
+    void error_callback() override {
+        logging::get_logger().error("Deserializer encountered an error while parsing input");
+    }
+
+private:
+    std::unique_ptr<transport::Transport> transport_;
+    data::DataCallback& callback_;
+    core::protocol::Deserializer deserializer_;
+};
+
+namespace {
+
+struct PacketBuilderImpl {
+    explicit PacketBuilderImpl(transport::Transport& transport) noexcept
+        : buffer_(transport)
+        , serializer_(buffer_) {}
+
+    PacketBuilderImpl(PacketBuilderImpl&& other) noexcept
+        : buffer_(std::move(other.buffer_))
+        , serializer_(buffer_) {}
+
+    PacketBuilderImpl& operator=(PacketBuilderImpl&&) = delete;
+    PacketBuilderImpl(const PacketBuilderImpl&) = delete;
+    PacketBuilderImpl& operator=(const PacketBuilderImpl&) = delete;
+    ~PacketBuilderImpl() = default;
+
+    // `write_*` returns `true` if args are valid; it never reports transport/resource issues.
+    // - `kInvalidArgument` => `false` (user error)
+    // - `kBadAlloc` => logged and ignored (`true`) (internal/transient)
+    [[nodiscard]] bool write_can(data::DataId field_id, const data::CanDataView& view) noexcept {
+        return process_result(serializer_.write_can(field_id, view));
+    }
+
+    [[nodiscard]] bool write_uart(data::DataId field_id, const data::UartDataView& view) noexcept {
+        return process_result(serializer_.write_uart(field_id, view));
+    }
+
+    [[nodiscard]] bool write_gpio_digital_data(const data::GpioDigitalDataView& view) noexcept {
+        return process_result(serializer_.write_gpio_digital_data(view));
+    }
+
+    [[nodiscard]] bool
+        write_gpio_digital_read_config(const data::GpioReadConfigView& view) noexcept {
+        return process_result(serializer_.write_gpio_digital_read_config(view));
+    }
+
+    [[nodiscard]] bool write_gpio_analog_data(const data::GpioAnalogDataView& view) noexcept {
+        return process_result(serializer_.write_gpio_analog_data(view));
+    }
+
+    [[nodiscard]] bool write_imu_accelerometer(const data::AccelerometerDataView& view) noexcept {
+        return process_result(serializer_.write_imu_accelerometer(view));
+    }
+
+    [[nodiscard]] bool write_imu_gyroscope(const data::GyroscopeDataView& view) noexcept {
+        return process_result(serializer_.write_imu_gyroscope(view));
+    }
+
+private:
+    static bool process_result(core::protocol::Serializer::SerializeResult result) {
+        using core::protocol::Serializer;
+        if (result == Serializer::SerializeResult::kSuccess) [[likely]]
+            return true;
+        if (result == Serializer::SerializeResult::kBadAlloc) {
+            logging::get_logger().error("Transmit buffer unavailable (acquire failed)");
+            return true;
+        }
+        if (result == Serializer::SerializeResult::kInvalidArgument) {
+            return false;
+        }
+        core::utility::assert_failed_debug();
+    }
+
+    StreamBuffer buffer_;
+    core::protocol::Serializer serializer_;
+};
+
+} // namespace
+
+Handler::PacketBuilder::PacketBuilder(void* transport_ptr) noexcept {
+    static_assert(sizeof(PacketBuilderImpl) <= sizeof(storage_));
+    static_assert(alignof(PacketBuilderImpl) <= alignof(std::uintptr_t));
+
+    auto& transport_ref = *static_cast<transport::Transport*>(transport_ptr);
+    std::construct_at(reinterpret_cast<PacketBuilderImpl*>(storage_), transport_ref);
+}
+
+Handler::PacketBuilder::~PacketBuilder() noexcept {
+    std::destroy_at(std::launder(reinterpret_cast<PacketBuilderImpl*>(storage_)));
+}
+
+bool Handler::PacketBuilder::write_can(
+    data::DataId field_id, const data::CanDataView& view) noexcept {
+    return std::launder(reinterpret_cast<PacketBuilderImpl*>(storage_))->write_can(field_id, view);
+}
+
+bool Handler::PacketBuilder::write_uart(
+    data::DataId field_id, const data::UartDataView& view) noexcept {
+    return std::launder(reinterpret_cast<PacketBuilderImpl*>(storage_))->write_uart(field_id, view);
+}
+
+bool Handler::PacketBuilder::write_gpio_digital_data(
+    const data::GpioDigitalDataView& view) noexcept {
+    return std::launder(reinterpret_cast<PacketBuilderImpl*>(storage_))
+        ->write_gpio_digital_data(view);
+}
+
+bool Handler::PacketBuilder::write_gpio_digital_read_config(
+    const data::GpioReadConfigView& view) noexcept {
+    return std::launder(reinterpret_cast<PacketBuilderImpl*>(storage_))
+        ->write_gpio_digital_read_config(view);
+}
+
+bool Handler::PacketBuilder::write_gpio_analog_data(const data::GpioAnalogDataView& view) noexcept {
+    return std::launder(reinterpret_cast<PacketBuilderImpl*>(storage_))
+        ->write_gpio_analog_data(view);
+}
+
+bool Handler::PacketBuilder::write_imu_accelerometer(
+    const data::AccelerometerDataView& view) noexcept {
+    return std::launder(reinterpret_cast<PacketBuilderImpl*>(storage_))
+        ->write_imu_accelerometer(view);
+}
+
+bool Handler::PacketBuilder::write_imu_gyroscope(const data::GyroscopeDataView& view) noexcept {
+    return std::launder(reinterpret_cast<PacketBuilderImpl*>(storage_))->write_imu_gyroscope(view);
+}
+
+Handler::Handler(
+    uint16_t usb_vid, int32_t usb_pid, std::string_view serial_filter, data::DataCallback& callback)
+    : impl_(new Impl(transport::create_usb_transport(usb_vid, usb_pid, serial_filter), callback)) {}
+
+Handler::Handler(Handler&& other) noexcept
+    : impl_(std::exchange(other.impl_, nullptr)) {}
+
+Handler& Handler::operator=(Handler&& other) noexcept {
+    if (this == &other)
+        return *this;
+    delete impl_;
+    impl_ = std::exchange(other.impl_, nullptr);
+    return *this;
+}
+
+Handler::~Handler() noexcept { delete impl_; }
+
+Handler::PacketBuilder Handler::start_transmit() noexcept {
+    core::utility::assert_debug(impl_);
+    return impl_->start_transmit();
+}
+
+} // namespace librmcs::host::protocol
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/protocol/stream_buffer.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/protocol/stream_buffer.hpp
new file mode 100644
index 0000000..80d8630
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/protocol/stream_buffer.hpp
@@ -0,0 +1,227 @@
+#pragma once
+
+#include <algorithm>
+#include <cstddef>
+#include <cstring>
+#include <memory>
+#include <span>
+#include <utility>
+
+#include "core/src/protocol/constant.hpp"
+#include "core/src/protocol/serializer.hpp"
+#include "core/src/utility/assert.hpp"
+#include "host/src/transport/transport.hpp"
+
+namespace librmcs::host::protocol {
+
+/**
+ * @brief A buffered stream writer for efficient sequential data transmission.
+ *
+ * StreamBuffer manages a buffer pool from a Transport and provides a
+ * streaming interface for writing data. It automatically handles buffer
+ * allocation, switching, and transmission, allowing users to focus on
+ * writing data without managing buffer lifecycle.
+ *
+ * @section Usage Pattern
+ * 1. Allocate memory via allocate() or allocate_up_to()
+ * 2. Write data to the returned span
+ * 3. Repeat steps 1-2 as needed
+ * 4. Destruction automatically transmits any pending data
+ *
+ * @section Buffer Management
+ * - Buffers are acquired lazily on first allocation
+ * - When current buffer is full, it's automatically transmitted and replaced
+ * - Destruction commits any pending buffer with written data
+ * - All buffer lifecycle is managed internally - no manual cleanup needed
+ *
+ * @section Constraints
+ * - Single allocation size must not exceed kProtocolBufferSize
+ * - Move-only
+ * - Not thread-safe - external synchronization required for concurrent access
+ *
+ * @section Example
+ * @code
+ *   StreamBuffer writer(transport);
+ *
+ *   // Allocate exactly 32 bytes
+ *   auto span1 = writer.allocate(32);
+ *   if (!span1.empty()) {
+ *       // Write data to span1...
+ *   }
+ *
+ *   // Allocate between 16-128 bytes (gets as much as possible)
+ *   auto span2 = writer.allocate_up_to(16, 128);
+ *   if (!span2.empty()) {
+ *       // Write data to span2...
+ *   }
+ *
+ *   // Destructor automatically transmits all written data
+ * @endcode
+ */
+class StreamBuffer : public core::protocol::SerializeBuffer {
+public:
+    /**
+     * @brief Constructs a StreamBuffer bound to the specified transport.
+     *
+     * @param transport The transport to use for buffer acquisition and transmission.
+     *                  Must outlive this StreamBuffer instance.
+     */
+    explicit StreamBuffer(transport::Transport& transport) noexcept
+        : transport_(transport) {}
+
+    StreamBuffer(StreamBuffer&& other) noexcept
+        : transport_(other.transport_)
+        , buffer_(std::move(other.buffer_))
+        , current_(other.current_)
+        , end_(other.end_) {
+        other.current_ = nullptr;
+        other.end_ = nullptr;
+    }
+    StreamBuffer& operator=(StreamBuffer&&) = delete;
+    StreamBuffer(const StreamBuffer&) = delete;
+    StreamBuffer& operator=(const StreamBuffer&) = delete;
+
+    /**
+     * @brief Destructor. Automatically transmits any pending buffered data.
+     *
+     * If a buffer contains written data, it will be transmitted before
+     * destruction completes. This ensures no data loss on scope exit.
+     */
+    ~StreamBuffer() override {
+        if (buffer_)
+            finalize_buffer();
+    }
+
+    /**
+     * @brief Allocates a contiguous memory region of exactly the specified size.
+     *
+     * Returns a writable span that remains valid until the next call to
+     * allocate(), allocate_up_to(), or destruction of this StreamBuffer.
+     *
+     * If the current buffer has insufficient space, it will be automatically
+     * transmitted and a new buffer will be acquired.
+     *
+     * @param size Number of bytes to allocate.
+     *             Must be in range (0, kProtocolBufferSize].
+     *
+     * @return A span of exactly 'size' bytes on success, or an empty span
+     *         if buffer acquisition fails (e.g., resource exhaustion)
+     *
+     * @pre size must be greater than 0
+     * @pre size must not exceed kProtocolBufferSize
+     *
+     * @par Example
+     * @code
+     *   auto span = writer.allocate(64);
+     *   if (!span.empty()) {
+     *       std::memcpy(span.data(), my_data, 64);
+     *   }
+     * @endcode
+     */
+    std::span<std::byte> allocate(std::size_t size) noexcept override {
+        core::utility::assert_debug(
+            0 < size && size <= core::protocol::kProtocolBufferSize && current_ <= end_);
+
+        if (!buffer_) {
+            if (!init_buffer())
+                return {};
+        } else if (std::cmp_less(end_ - current_, size)) {
+            finalize_buffer();
+            if (!init_buffer())
+                return {};
+        }
+
+        auto* begin = current_;
+        current_ += size;
+        return {begin, size};
+    }
+
+    /**
+     * @brief Allocates a memory region with flexible size between min and max.
+     *
+     * Attempts to allocate as much memory as possible within the specified
+     * range. This is useful when you can work with variable amounts of data
+     * (e.g., bulk operations where more is better but a minimum is required).
+     *
+     * Returns the largest available span up to max_size, as long as it's at
+     * least min_size. The actual size depends on remaining buffer space.
+     *
+     * If the current buffer has less than min_size available, it will be
+     * automatically transmitted and a new buffer will be acquired.
+     *
+     * @param min_size Minimum acceptable allocation size.
+     *                 Must be in range (0, kProtocolBufferSize].
+     * @param max_size Maximum desired allocation size. Must be >= min_size.
+     *
+     * @return A span of size in range [min_size, max_size] on success, or an
+     *         empty span if buffer acquisition fails (e.g., resource exhaustion)
+     *
+     * @pre min_size must be greater than 0
+     * @pre min_size must not exceed kProtocolBufferSize
+     * @pre max_size must be >= min_size
+     *
+     * @par Example
+     * @code
+     *   // Try to copy up to 256 bytes, but need at least 64
+     *   auto span = writer.allocate_up_to(64, 256);
+     *   if (!span.empty()) {
+     *       size_t copied = copy_data(span.data(), span.size());
+     *       // span.size() might be 64, 128, 256, or anywhere in between
+     *   }
+     * @endcode
+     */
+    std::span<std::byte> allocate_up_to(std::size_t min_size, std::size_t max_size) noexcept {
+        core::utility::assert_debug(
+            0 < min_size && min_size <= core::protocol::kProtocolBufferSize && min_size <= max_size
+            && current_ <= end_);
+
+        if (!buffer_) {
+            if (!init_buffer())
+                return {};
+        } else if (std::cmp_less(end_ - current_, min_size)) {
+            finalize_buffer();
+            if (!init_buffer())
+                return {};
+        }
+
+        auto* begin = current_;
+        auto size = std::min(static_cast<std::size_t>(end_ - current_), max_size);
+        current_ += size;
+        return {begin, size};
+    }
+
+private:
+    bool init_buffer() noexcept {
+        core::utility::assert_debug(!buffer_ && !current_ && !end_);
+
+        buffer_ = transport_.acquire_transmit_buffer();
+        if (!buffer_)
+            return false;
+
+        auto data = buffer_->data();
+        current_ = data.data();
+        end_ = current_ + data.size();
+        core::utility::assert_debug(data.size() == core::protocol::kProtocolBufferSize);
+
+        return true;
+    }
+
+    void finalize_buffer() noexcept {
+        core::utility::assert_debug(buffer_ && current_ && end_ && current_ <= end_);
+
+        const std::byte* begin = buffer_->data().data();
+        const std::size_t payload_size = current_ - begin;
+        core::utility::assert_debug(payload_size > 0);
+
+        transport_.transmit(std::move(buffer_), payload_size);
+        buffer_.reset();
+        current_ = end_ = nullptr;
+    }
+
+    transport::Transport& transport_;
+
+    std::unique_ptr<transport::TransportBuffer> buffer_ = nullptr;
+    std::byte *current_ = nullptr, *end_ = nullptr;
+};
+
+} // namespace librmcs::host::protocol
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/transport.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/transport.hpp
new file mode 100644
index 0000000..117f84d
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/transport.hpp
@@ -0,0 +1,144 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <functional>
+#include <memory>
+#include <span>
+#include <string_view>
+
+#include "core/src/protocol/constant.hpp"
+
+namespace librmcs::host::transport {
+
+/**
+ * @brief Buffer interface for transport operations.
+ *
+ * Buffers are acquired from Transport and must be returned to the same
+ * transport instance through either transmit() or release_transmit_buffer().
+ *
+ * @section Ownership Rules:
+ * - Buffers must only be destroyed by the transport that created them
+ * - Destroying a buffer externally results in undefined behavior
+ * - Passing a buffer to a different transport instance is undefined behavior
+ *
+ * @section Memory Guarantees:
+ * - data() returns a memory region of exactly kProtocolBufferSize bytes
+ * - data() always returns the same memory region for a given buffer instance
+ */
+class TransportBuffer {
+public:
+    using BufferSpanType = std::span<std::byte, core::protocol::kProtocolBufferSize>;
+
+    TransportBuffer() = default;
+    TransportBuffer(const TransportBuffer&) = delete;
+    TransportBuffer& operator=(const TransportBuffer&) = delete;
+    TransportBuffer(TransportBuffer&&) = delete;
+    TransportBuffer& operator=(TransportBuffer&&) = delete;
+    virtual ~TransportBuffer() noexcept = default;
+
+    /**
+     * @brief Returns a mutable view of the buffer's memory region.
+     *
+     * The returned span is guaranteed to be exactly kProtocolBufferSize bytes and remains
+     * valid for the lifetime of this buffer object. Multiple calls to data()
+     * must return a span pointing to the same underlying memory.
+     */
+    virtual BufferSpanType data() const noexcept = 0;
+};
+
+/**
+ * @brief Transport interface for bidirectional data transmission.
+ *
+ * @section Buffer Lifecycle:
+ * - Acquire buffers via acquire_transmit_buffer()
+ * - Fill buffer with data using TransportBuffer::data()
+ * - Either transmit the buffer via transmit() or return it via release_transmit_buffer()
+ * - Never destroy buffers externally - let the transport manage their lifecycle
+ *
+ * @section Receive Semantics:
+ * - receive() may only be called once during the transport's lifetime
+ * - Once started, reception continues until the transport is destroyed
+ * - The callback will be invoked for each received data packet
+ *
+ * @section Implementation Requirements:
+ * - Implementations should detect and log errors when buffers are destroyed externally
+ * - Buffer ownership violations should be treated as programming errors
+ */
+class Transport {
+public:
+    Transport() = default;
+    virtual ~Transport() noexcept = default;
+    Transport(const Transport&) = delete;
+    Transport& operator=(const Transport&) = delete;
+    Transport(Transport&&) = delete;
+    Transport& operator=(Transport&&) = delete;
+
+    /**
+     * @brief Acquires a buffer for transmission.
+     *
+     * The returned buffer is owned by the caller and must be passed back to
+     * this transport via either transmit() or release_transmit_buffer().
+     *
+     * @return A buffer with exactly kProtocolBufferSize bytes of writable memory, or nullptr
+     *         if buffer acquisition fails (e.g., resource exhaustion)
+     */
+    virtual std::unique_ptr<TransportBuffer> acquire_transmit_buffer() noexcept = 0;
+
+    /**
+     * @brief Transmits data from the provided buffer.
+     *
+     * Takes ownership of the buffer and queues it for transmission. The buffer
+     * must have been acquired from this transport instance via acquire_transmit_buffer().
+     *
+     * @param buffer Buffer containing the data to transmit (ownership transferred)
+     * @param payload_size Number of bytes to transmit from the buffer (must not exceed buffer size)
+     *
+     * @section Preconditions:
+     *   - buffer must be non-null and acquired from this transport
+     *   - payload_size must be <= buffer capacity
+     */
+    virtual void transmit(std::unique_ptr<TransportBuffer> buffer, size_t payload_size) = 0;
+
+    /**
+     * @brief Returns an unused buffer back to the transport.
+     *
+     * Use this to release a buffer that was acquired but will not be transmitted.
+     * Takes ownership of the buffer and returns it to the transport's buffer pool.
+     *
+     * @param buffer Buffer to release (ownership transferred)
+     *
+     * @section Preconditions:
+     *   - buffer must be non-null and acquired from this transport
+     *   - buffer must not have been previously transmitted or released
+     */
+    virtual void release_transmit_buffer(std::unique_ptr<TransportBuffer> buffer) = 0;
+
+    /**
+     * @brief Starts receiving data with the provided callback.
+     *
+     * This function may only be called once during the transport's lifetime.
+     * Once called, the transport will invoke the callback for each received
+     * data packet until the transport is destroyed.
+     *
+     * @param callback Function invoked for each received data packet.
+     *                 The span is valid only for the duration of the callback.
+     *
+     * @section Preconditions:
+     *   - Must be called at most once per transport instance
+     *   - callback must be a valid callable object
+     *
+     * @section Thread Safety:
+     *   The callback will be invoked from at most one thread at any given time.
+     *   Concurrent invocations are guaranteed not to occur. However, the callback
+     *   may be invoked from any thread, and different invocations may use different
+     *   threads. Callers are responsible for thread synchronization if state is
+     *   shared with other threads.
+     */
+    virtual void receive(std::function<void(std::span<const std::byte>)> callback) = 0;
+};
+
+std::unique_ptr<Transport>
+    create_usb_transport(uint16_t usb_vid, int32_t usb_pid, std::string_view serial_filter);
+
+} // namespace librmcs::host::transport
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/usb/device_scanner.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/usb/device_scanner.hpp
new file mode 100644
index 0000000..b202a6c
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/usb/device_scanner.hpp
@@ -0,0 +1,422 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <format>
+#include <span>
+#include <stdexcept>
+#include <string>
+#include <string_view>
+#include <utility>
+#include <variant>
+#include <vector>
+
+#include <libusb.h>
+#include <sys/types.h>
+
+#include "core/src/utility/assert.hpp"
+#include "host/src/transport/usb/helper.hpp"
+#include "host/src/utility/final_action.hpp"
+
+namespace librmcs::host::transport::usb {
+
+class DeviceScanner {
+public:
+    static libusb_device_handle* select_device(
+        libusb_context* context, uint16_t vendor_id, int32_t product_id,
+        std::string_view serial_filter) {
+        libusb_device** device_list = nullptr;
+        const ssize_t device_count = libusb_get_device_list(context, &device_list);
+        if (device_count < 0) {
+            const int error_code = static_cast<int>(device_count);
+            throw std::runtime_error(
+                std::format(
+                    "Failed to get USB device list: {} ({})", error_code,
+                    helper::libusb_errname(error_code)));
+        }
+
+        const utility::FinalAction free_device_list{
+            [&device_list]() noexcept { libusb_free_device_list(device_list, 1); }};
+
+        auto infos = scan_devices(device_list, device_count, vendor_id, product_id, serial_filter);
+
+        std::vector<libusb_device_handle*> devices_opened;
+        for (const auto& info : infos) {
+            if (const auto* matched = std::get_if<DeviceInfo::Matched>(&info.result))
+                devices_opened.push_back(matched->handle);
+        }
+
+        if (devices_opened.size() != 1) {
+            for (auto& device : devices_opened)
+                libusb_close(device);
+
+            const bool multiple_compatible_devices = devices_opened.size() > 1;
+            const auto report = generate_device_discovery_report(
+                infos, vendor_id, product_id, serial_filter, multiple_compatible_devices);
+            throw std::runtime_error(
+                std::format(
+                    "{}\n\n{}",
+                    multiple_compatible_devices ? "Multiple compatible devices found."
+                                                : "No compatible device found.",
+                    report));
+        }
+
+        return devices_opened[0];
+    }
+
+private:
+    struct DeviceInfo {
+        libusb_device* device = nullptr;
+        libusb_device_descriptor descriptor = {};
+        std::string serial_number;
+
+        struct Matching {};
+
+        struct DescriptorReadFailed {
+            int libusb_error_number = 0;
+        };
+        struct DescriptorEmpty {};
+
+        struct VendorMismatch {};
+        struct ProductMismatch {};
+        struct OpenFailed {
+            int libusb_error_number = 0;
+        };
+
+        struct MissingSerialNumber {};
+        struct SerialReadFailed {
+            int libusb_error_number = 0;
+        };
+        struct SerialFilterMismatch {};
+
+        struct MissingProductString {};
+        struct ProductStringReadFailed {
+            int libusb_error_number;
+        };
+        struct ProtocolVersionMismatch {
+            std::string product_string;
+        };
+
+        struct Matched {
+            libusb_device_handle* handle = nullptr;
+        };
+
+        using MatchResult = std::variant<
+            Matching, DescriptorReadFailed, DescriptorEmpty, VendorMismatch, MissingSerialNumber,
+            ProductMismatch, OpenFailed, SerialReadFailed, SerialFilterMismatch,
+            MissingProductString, ProductStringReadFailed, ProtocolVersionMismatch, Matched>;
+        MatchResult result;
+    };
+
+    struct DiscoveryTroubleshooting {
+        bool access_denied = false;
+        bool device_busy = false;
+        bool pid_mismatch = false;
+        bool serial_mismatch = false;
+        bool firmware_mismatch = false;
+    };
+
+    static std::vector<DeviceInfo> scan_devices(
+        libusb_device** device_list, ssize_t device_count, uint16_t vendor_id, int32_t product_id,
+        std::string_view serial_filter) {
+        std::vector<DeviceInfo> infos;
+        infos.reserve(static_cast<size_t>(device_count));
+
+        for (ssize_t i = 0; i < device_count; i++) {
+            auto& info = infos.emplace_back();
+            info.device = device_list[i];
+
+            if (const int ret = libusb_get_device_descriptor(device_list[i], &info.descriptor);
+                ret != 0) {
+                info.result = DeviceInfo::DescriptorReadFailed{ret};
+                continue;
+            }
+            if (info.descriptor.bLength == 0) {
+                info.result = DeviceInfo::DescriptorEmpty{};
+                continue;
+            }
+
+            if (info.descriptor.idVendor != vendor_id) {
+                info.result = DeviceInfo::VendorMismatch{};
+                continue;
+            }
+            if (product_id >= 0 && !std::cmp_equal(info.descriptor.idProduct, product_id)) {
+                info.result = DeviceInfo::ProductMismatch{};
+                continue;
+            }
+
+            libusb_device_handle* handle = nullptr;
+            if (const int ret = libusb_open(device_list[i], &handle); ret != 0) {
+                info.result = DeviceInfo::OpenFailed{ret};
+                continue;
+            }
+            utility::FinalAction close_device{[&handle]() noexcept { libusb_close(handle); }};
+
+            if (!read_and_match_serial_number(handle, serial_filter, info))
+                continue;
+
+            if (!match_product_version(handle, info))
+                continue;
+
+            info.result = DeviceInfo::Matched{handle};
+            close_device.disable();
+        }
+
+        return infos;
+    }
+
+    static bool read_and_match_serial_number(
+        libusb_device_handle* handle, const std::string_view& serial_filter, DeviceInfo& info) {
+        if (info.descriptor.iSerialNumber == 0) {
+            info.result = DeviceInfo::MissingSerialNumber{};
+            return false;
+        }
+
+        char serial_buf[256];
+        const int n = libusb_get_string_descriptor_ascii(
+            handle, info.descriptor.iSerialNumber, reinterpret_cast<unsigned char*>(serial_buf),
+            sizeof(serial_buf));
+        if (n < 0) {
+            info.result = DeviceInfo::SerialReadFailed{n};
+            return false;
+        }
+
+        info.serial_number = {serial_buf, static_cast<size_t>(n)};
+
+        if (!serial_filter.empty()
+            && !match_filter(serial_filter, std::string_view{info.serial_number})) {
+            info.result = DeviceInfo::SerialFilterMismatch{};
+            return false;
+        }
+        return true;
+    }
+
+    static constexpr bool match_filter(std::string_view filter, std::string_view target) {
+        const auto *filter_it = filter.cbegin(), *filter_end = filter.cend();
+        const auto *target_it = target.cbegin(), *target_end = target.cend();
+
+        const auto to_upper = [](char c) constexpr {
+            if (c >= 'a' && c <= 'z')
+                return static_cast<char>(c - 'a' + 'A');
+            return c;
+        };
+
+        while (filter_it != filter_end && target_it != target_end) {
+            if (*filter_it == '-') {
+                ++filter_it;
+                continue;
+            }
+            if (*target_it == '-') {
+                ++target_it;
+                continue;
+            }
+
+            if (to_upper(*filter_it) != to_upper(*target_it))
+                return false;
+
+            ++filter_it;
+            ++target_it;
+        }
+
+        while (filter_it != filter_end && *filter_it == '-') {
+            ++filter_it;
+        }
+
+        return filter_it == filter_end;
+    }
+
+    static bool match_product_version(libusb_device_handle* handle, DeviceInfo& info) {
+        if (info.descriptor.iProduct == 0) {
+            info.result = DeviceInfo::MissingProductString{};
+            return false;
+        }
+
+        char product_buf[256];
+        const int n = libusb_get_string_descriptor_ascii(
+            handle, info.descriptor.iProduct, reinterpret_cast<unsigned char*>(product_buf),
+            sizeof(product_buf));
+        if (n < 0) {
+            info.result = DeviceInfo::ProductStringReadFailed{n};
+            return false;
+        }
+
+        const std::string_view product_string{product_buf, static_cast<size_t>(n)};
+        if (product_string != "RMCS Agent v" LIBRMCS_PROJECT_VERSION_STRING) {
+            info.result = DeviceInfo::ProtocolVersionMismatch{std::string{product_string}};
+            return false;
+        }
+
+        return true;
+    }
+
+    static std::string generate_device_discovery_report(
+        std::span<const DeviceInfo> infos, uint16_t vendor_id, int32_t product_id,
+        std::string_view serial_filter, bool multiple_compatible_devices) {
+        const std::string pid_text = product_id >= 0 ? std::format("0x{:04x}", product_id) : "Any";
+        const std::string serial_filter_text =
+            serial_filter.empty() ? "Any" : std::string{serial_filter};
+
+        std::string report = std::format(
+            "Target Specs:\n"
+            "- VID: 0x{:04x}\n"
+            "- PID: {}\n"
+            "- Serial Filter: {}\n"
+            "- Firmware: v{}\n\n"
+            "Discovered Devices:\n",
+            vendor_id, pid_text, serial_filter_text, LIBRMCS_PROJECT_VERSION_STRING);
+
+        DiscoveryTroubleshooting troubleshooting = {};
+        std::size_t reported_device_count = 0;
+        std::size_t matched_count = 0;
+
+        for (const auto& info : infos) {
+            if (std::holds_alternative<DeviceInfo::VendorMismatch>(info.result))
+                continue;
+
+            report.append(std::format("- {}\n", format_device_summary(info)));
+            report.append(
+                std::format(
+                    "    -> {}\n",
+                    describe_device_match_result(info, matched_count, troubleshooting)));
+            reported_device_count++;
+        }
+
+        if (reported_device_count == 0)
+            report.append("- No relevant devices discovered.\n");
+
+        append_troubleshooting_section(report, troubleshooting, multiple_compatible_devices);
+        return report;
+    }
+
+    static std::string format_device_summary(const DeviceInfo& info) {
+        core::utility::assert_debug(info.device);
+        std::string summary = std::format(
+            "Bus {:03} Dev {:03}", static_cast<unsigned int>(libusb_get_bus_number(info.device)),
+            static_cast<unsigned int>(libusb_get_device_address(info.device)));
+
+        const bool has_descriptor =
+            !std::holds_alternative<DeviceInfo::DescriptorReadFailed>(info.result)
+            && !std::holds_alternative<DeviceInfo::DescriptorEmpty>(info.result);
+        if (!has_descriptor)
+            return summary;
+
+        summary.append(
+            std::format(" (ID {:04x}:{:04x}", info.descriptor.idVendor, info.descriptor.idProduct));
+        if (!info.serial_number.empty())
+            summary.append(std::format(", SN {}", info.serial_number));
+        summary.push_back(')');
+
+        return summary;
+    }
+
+    static std::string describe_device_match_result(
+        const DeviceInfo& info, std::size_t& matched_count,
+        DiscoveryTroubleshooting& troubleshooting) {
+        if (std::holds_alternative<DeviceInfo::Matching>(info.result)) {
+            core::utility::assert_failed_debug();
+            return "Ignored: Internal matching state error";
+        }
+        if (const auto* descriptor_read_failed =
+                std::get_if<DeviceInfo::DescriptorReadFailed>(&info.result)) {
+            return std::format(
+                "Ignored: USB descriptor unreadable ({} / {})",
+                descriptor_read_failed->libusb_error_number,
+                helper::libusb_errname(descriptor_read_failed->libusb_error_number));
+        }
+        if (std::holds_alternative<DeviceInfo::DescriptorEmpty>(info.result))
+            return "Ignored: USB descriptor empty";
+        if (std::holds_alternative<DeviceInfo::VendorMismatch>(info.result))
+            return "Ignored: VID mismatch";
+        if (std::holds_alternative<DeviceInfo::ProductMismatch>(info.result)) {
+            troubleshooting.pid_mismatch = true;
+            return "Ignored: PID mismatch";
+        }
+        if (const auto* open_failed = std::get_if<DeviceInfo::OpenFailed>(&info.result)) {
+            if (open_failed->libusb_error_number == LIBUSB_ERROR_ACCESS) {
+                troubleshooting.access_denied = true;
+                return std::format(
+                    "Ignored: Access denied ({} / {})", open_failed->libusb_error_number,
+                    helper::libusb_errname(open_failed->libusb_error_number));
+            }
+            if (open_failed->libusb_error_number == LIBUSB_ERROR_BUSY) {
+                troubleshooting.device_busy = true;
+                return std::format(
+                    "Ignored: Device busy ({} / {})", open_failed->libusb_error_number,
+                    helper::libusb_errname(open_failed->libusb_error_number));
+            }
+
+            return std::format(
+                "Ignored: Open failed ({} / {})", open_failed->libusb_error_number,
+                helper::libusb_errname(open_failed->libusb_error_number));
+        }
+        if (std::holds_alternative<DeviceInfo::MissingSerialNumber>(info.result))
+            return "Ignored: Missing serial number";
+        if (const auto* serial_read_failed =
+                std::get_if<DeviceInfo::SerialReadFailed>(&info.result)) {
+            return std::format(
+                "Ignored: Serial number read failed ({} / {})",
+                serial_read_failed->libusb_error_number,
+                helper::libusb_errname(serial_read_failed->libusb_error_number));
+        }
+        if (std::holds_alternative<DeviceInfo::SerialFilterMismatch>(info.result)) {
+            troubleshooting.serial_mismatch = true;
+            return "Ignored: Serial mismatch";
+        }
+        if (std::holds_alternative<DeviceInfo::MissingProductString>(info.result))
+            return "Ignored: Missing product string";
+        if (const auto* product_read_failed =
+                std::get_if<DeviceInfo::ProductStringReadFailed>(&info.result)) {
+            return std::format(
+                "Ignored: Product string read failed ({} / {})",
+                product_read_failed->libusb_error_number,
+                helper::libusb_errname(product_read_failed->libusb_error_number));
+        }
+        if (const auto* protocol_mismatch =
+                std::get_if<DeviceInfo::ProtocolVersionMismatch>(&info.result)) {
+            troubleshooting.firmware_mismatch = true;
+            return std::format(
+                "Ignored: Firmware mismatch (Found: {})", protocol_mismatch->product_string);
+        }
+        if (std::holds_alternative<DeviceInfo::Matched>(info.result)) {
+            matched_count++;
+            return std::format("Matched #{}", matched_count);
+        }
+        core::utility::assert_failed_debug();
+    }
+
+    static void append_troubleshooting_section(
+        std::string& report, const DiscoveryTroubleshooting& troubleshooting,
+        bool multiple_compatible_devices) {
+        report.append("\nTroubleshooting:\n");
+
+        bool has_any_hints = false;
+        const auto append_hint = [&report, &has_any_hints](std::string_view hint) {
+            has_any_hints = true;
+            report.append(std::format("- {}\n", hint));
+        };
+
+        if (troubleshooting.access_denied)
+            append_hint("Access denied: Check USB permissions (e.g., udev rules).");
+        if (troubleshooting.device_busy)
+            append_hint("Device busy: Close other processes using the device.");
+        if (troubleshooting.pid_mismatch)
+            append_hint("PID mismatch: Check board type selection.");
+        if (troubleshooting.serial_mismatch)
+            append_hint("Serial mismatch: Verify target SN or loosen the serial filter.");
+        if (troubleshooting.firmware_mismatch) {
+            append_hint(
+                std::format(
+                    "Firmware mismatch: Flash device firmware to v{}.",
+                    LIBRMCS_PROJECT_VERSION_STRING));
+        }
+        if (multiple_compatible_devices) {
+            append_hint(
+                "Multiple matches: Provide a stricter serial filter to target a specific device.");
+        }
+
+        if (!has_any_hints)
+            report.append("- No additional hints.\n");
+    }
+};
+
+} // namespace librmcs::host::transport::usb
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/usb/helper.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/usb/helper.hpp
new file mode 100644
index 0000000..838534b
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/usb/helper.hpp
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <libusb.h>
+
+namespace librmcs::host::transport::usb::helper {
+
+constexpr const char* libusb_errname(int number) {
+    switch (number) {
+    case LIBUSB_ERROR_IO: return "ERROR_IO";
+    case LIBUSB_ERROR_INVALID_PARAM: return "ERROR_INVALID_PARAM";
+    case LIBUSB_ERROR_ACCESS: return "ERROR_ACCESS";
+    case LIBUSB_ERROR_NO_DEVICE: return "ERROR_NO_DEVICE";
+    case LIBUSB_ERROR_NOT_FOUND: return "ERROR_NOT_FOUND";
+    case LIBUSB_ERROR_BUSY: return "ERROR_BUSY";
+    case LIBUSB_ERROR_TIMEOUT: return "ERROR_TIMEOUT";
+    case LIBUSB_ERROR_OVERFLOW: return "ERROR_OVERFLOW";
+    case LIBUSB_ERROR_PIPE: return "ERROR_PIPE";
+    case LIBUSB_ERROR_INTERRUPTED: return "ERROR_INTERRUPTED";
+    case LIBUSB_ERROR_NO_MEM: return "ERROR_NO_MEM";
+    case LIBUSB_ERROR_NOT_SUPPORTED: return "ERROR_NOT_SUPPORTED";
+    case LIBUSB_ERROR_OTHER: return "ERROR_OTHER";
+    default: return "UNKNOWN";
+    }
+}
+
+} // namespace librmcs::host::transport::usb::helper
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/usb/usb.cpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/usb/usb.cpp
new file mode 100644
index 0000000..54954fe
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/usb/usb.cpp
@@ -0,0 +1,360 @@
+#include <atomic>
+#include <chrono>
+#include <cstddef>
+#include <cstdint>
+#include <exception>
+#include <format>
+#include <functional>
+#include <memory>
+#include <mutex>
+#include <new>
+#include <span>
+#include <stdexcept>
+#include <string_view>
+#include <thread>
+#include <tuple>
+#include <utility>
+
+#include <libusb.h>
+
+#include "core/src/protocol/constant.hpp"
+#include "core/src/utility/assert.hpp"
+#include "host/src/logging/logging.hpp"
+#include "host/src/transport/transport.hpp"
+#include "host/src/transport/usb/device_scanner.hpp"
+#include "host/src/transport/usb/helper.hpp"
+#include "host/src/utility/final_action.hpp"
+#include "host/src/utility/ring_buffer.hpp"
+
+namespace librmcs::host::transport {
+namespace usb {
+
+class Usb : public Transport {
+public:
+    explicit Usb(uint16_t usb_vid, int32_t usb_pid, std::string_view serial_filter)
+        : logger_(logging::get_logger())
+        , free_transmit_transfers_(kTransmitTransferCount) {
+        usb_init(usb_vid, usb_pid, serial_filter);
+        utility::FinalAction rollback_on_failure{[this]() noexcept {
+            destroy_free_transmit_transfers();
+            libusb_release_interface(libusb_device_handle_, kTargetInterface);
+            libusb_close(libusb_device_handle_);
+            libusb_exit(libusb_context_);
+        }};
+
+        init_transmit_transfers();
+        event_thread_ = std::thread{[this]() { handle_events(); }};
+
+        rollback_on_failure.disable();
+    }
+
+    Usb(const Usb&) = delete;
+    Usb& operator=(const Usb&) = delete;
+    Usb(Usb&&) = delete;
+    Usb& operator=(Usb&&) = delete;
+
+    ~Usb() override {
+        {
+            const std::scoped_lock guard{transmit_transfer_push_mutex_};
+            stop_handling_events_.store(true, std::memory_order::relaxed);
+        }
+        destroy_free_transmit_transfers();
+
+        libusb_release_interface(libusb_device_handle_, kTargetInterface);
+
+        // libusb_close() reliably cancels all pending transfers and invokes their callbacks,
+        // avoiding race conditions present in other cancellation methods
+        libusb_close(libusb_device_handle_);
+
+        if (event_thread_.joinable())
+            event_thread_.join();
+
+        libusb_exit(libusb_context_);
+    }
+
+    std::unique_ptr<TransportBuffer> acquire_transmit_buffer() noexcept override {
+        TransferWrapper* transfer = nullptr;
+        {
+            const std::scoped_lock guard{transmit_transfer_pop_mutex_};
+            free_transmit_transfers_.pop_front(
+                [&transfer](TransferWrapper* value) noexcept { transfer = value; });
+        }
+        if (!transfer)
+            return nullptr;
+
+        return std::unique_ptr<TransportBuffer>{transfer};
+    }
+
+    void transmit(std::unique_ptr<TransportBuffer> buffer, size_t size) override {
+        core::utility::assert_debug(static_cast<bool>(buffer));
+
+        if (size > core::protocol::kProtocolBufferSize)
+            throw std::invalid_argument("Transmit size exceeds maximum transfer length");
+
+        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-static-cast-downcast)
+        auto& transfer = static_cast<TransferWrapper*>(buffer.get())->transfer_;
+        transfer->length = static_cast<int>(size);
+
+        int ret = libusb_submit_transfer(transfer);
+        if (ret != 0) [[unlikely]] {
+            throw std::runtime_error(
+                std::format(
+                    "Failed to submit transmit transfer: {} ({})", ret,
+                    helper::libusb_errname(ret)));
+        }
+
+        // If success: Ownership is transferred to libusb
+        std::ignore = buffer.release();
+    }
+
+    void release_transmit_buffer(std::unique_ptr<TransportBuffer> buffer) override {
+        core::utility::assert_debug(static_cast<bool>(buffer));
+
+        const std::scoped_lock guard{transmit_transfer_push_mutex_};
+
+        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-static-cast-downcast)
+        auto* wrapper = static_cast<TransferWrapper*>(buffer.release());
+        free_transmit_transfers_.emplace_back(wrapper);
+    }
+
+    void receive(std::function<void(std::span<const std::byte>)> callback) override {
+        if (!callback)
+            throw std::invalid_argument{"Callback function cannot be null"};
+        if (receive_callback_)
+            throw std::logic_error{"Receive function can only be called once"};
+
+        receive_callback_ = std::move(callback);
+        init_receive_transfers();
+    }
+
+private:
+    class TransferWrapper : public TransportBuffer {
+        friend class Usb;
+
+    public:
+        explicit TransferWrapper(Usb& self)
+            : self_(self)
+            , transfer_(self_.create_libusb_transfer()) {}
+
+        TransferWrapper(const TransferWrapper&) = delete;
+        TransferWrapper& operator=(const TransferWrapper&) = delete;
+        TransferWrapper(TransferWrapper&&) = delete;
+        TransferWrapper& operator=(TransferWrapper&&) = delete;
+
+        ~TransferWrapper() override {
+            if (transfer_) {
+                logging::get_logger().error(
+                    "USB TransferBuffer {} was destroyed externally - this is undefined behavior. "
+                    "Buffers must be returned via transmit() or "
+                    "release_transmit_buffer(). ",
+                    static_cast<void*>(this));
+                destroy();
+            }
+        }
+
+        BufferSpanType data() const noexcept override {
+            return BufferSpanType{
+                reinterpret_cast<std::byte*>(transfer_->buffer),
+                core::protocol::kProtocolBufferSize};
+        }
+
+        void destroy() noexcept {
+            self_.destroy_libusb_transfer(transfer_);
+            transfer_ = nullptr;
+        }
+
+    private:
+        Usb& self_;
+
+        libusb_transfer* transfer_;
+    };
+
+    void usb_init(uint16_t vendor_id, int32_t product_id, std::string_view serial_filter) {
+        if (const int ret = libusb_init(&libusb_context_); ret != 0) [[unlikely]] {
+            throw std::runtime_error(
+                std::format(
+                    "Failed to initialize libusb: {} ({})", ret, helper::libusb_errname(ret)));
+        }
+        utility::FinalAction exit_libusb{[this]() noexcept { libusb_exit(libusb_context_); }};
+
+        libusb_device_handle_ =
+            DeviceScanner::select_device(libusb_context_, vendor_id, product_id, serial_filter);
+        utility::FinalAction close_device_handle{
+            [this]() noexcept { libusb_close(libusb_device_handle_); }};
+
+        if (const int ret = libusb_claim_interface(libusb_device_handle_, kTargetInterface);
+            ret != 0) [[unlikely]] {
+            throw std::runtime_error(
+                std::format(
+                    "Failed to claim interface {}: {} ({})", kTargetInterface, ret,
+                    helper::libusb_errname(ret)));
+        }
+
+        // Libusb successfully initialized
+        close_device_handle.disable();
+        exit_libusb.disable();
+    }
+
+    void init_transmit_transfers() {
+        TransferWrapper* transmit_transfers[kTransmitTransferCount] = {};
+        try {
+            for (auto& wrapper : transmit_transfers) {
+                wrapper = new TransferWrapper{*this};
+                auto* transfer = wrapper->transfer_;
+
+                libusb_fill_bulk_transfer(
+                    transfer, libusb_device_handle_, kOutEndpoint,
+                    new unsigned char[core::protocol::kProtocolBufferSize], 0,
+                    [](libusb_transfer* transfer) {
+                        auto* wrapper = static_cast<TransferWrapper*>(transfer->user_data);
+                        wrapper->self_.usb_transmit_complete_callback(wrapper);
+                    },
+                    wrapper, 0);
+                transfer->flags = libusb_transfer_flags::LIBUSB_TRANSFER_FREE_BUFFER;
+            }
+        } catch (...) {
+            for (auto& wrapper : transmit_transfers) {
+                if (wrapper) {
+                    wrapper->destroy();
+                    delete wrapper;
+                }
+            }
+            throw;
+        }
+
+        auto* iter = transmit_transfers;
+        free_transmit_transfers_.push_back_n(
+            [&iter]() noexcept { return *iter++; }, kTransmitTransferCount);
+    }
+
+    void handle_events() {
+        while (active_transfers_.load(std::memory_order::relaxed)) {
+            libusb_handle_events(libusb_context_);
+        }
+    }
+
+    void init_receive_transfers() {
+        for (size_t i = 0; i < kReceiveTransferCount; i++) {
+            auto* transfer = create_libusb_transfer();
+
+            libusb_fill_bulk_transfer(
+                transfer, libusb_device_handle_, kInEndpoint,
+                new unsigned char[core::protocol::kProtocolBufferSize],
+                static_cast<int>(core::protocol::kProtocolBufferSize),
+                [](libusb_transfer* transfer) {
+                    static_cast<Usb*>(transfer->user_data)->usb_receive_complete_callback(transfer);
+                },
+                this, 0);
+            transfer->flags = libusb_transfer_flags::LIBUSB_TRANSFER_FREE_BUFFER;
+
+            int ret = libusb_submit_transfer(transfer);
+            if (ret != 0) [[unlikely]] {
+                destroy_libusb_transfer(transfer);
+                throw std::runtime_error(
+                    std::format(
+                        "Failed to submit receive transfer: {} ({})", ret,
+                        helper::libusb_errname(ret)));
+            }
+        }
+    }
+
+    void usb_transmit_complete_callback(TransferWrapper* wrapper) {
+        // Share mutex with teardown so destructor can block callbacks before draining the queue
+        const std::scoped_lock guard{transmit_transfer_push_mutex_};
+
+        if (stop_handling_events_.load(std::memory_order::relaxed)) [[unlikely]] {
+            wrapper->destroy();
+            delete wrapper;
+            return;
+        }
+
+        free_transmit_transfers_.emplace_back(wrapper);
+    }
+
+    void usb_receive_complete_callback(libusb_transfer* transfer) {
+        if (stop_handling_events_.load(std::memory_order::relaxed)) [[unlikely]] {
+            destroy_libusb_transfer(transfer);
+            return;
+        }
+
+        const auto now = std::chrono::steady_clock::now();
+        const bool should_drop = now > last_rx_callback_timepoint_ + std::chrono::seconds{1};
+        last_rx_callback_timepoint_ = now;
+
+        if (!should_drop && transfer->actual_length > 0) {
+            const auto* first = reinterpret_cast<std::byte*>(transfer->buffer);
+            const auto size = static_cast<std::size_t>(transfer->actual_length);
+            receive_callback_({first, size});
+        }
+
+        int ret = libusb_submit_transfer(transfer);
+        if (ret != 0) [[unlikely]] {
+            if (ret == LIBUSB_ERROR_NO_DEVICE)
+                logger_.error(
+                    "Failed to re-submit receive transfer: Device disconnected. "
+                    "Terminating...");
+            else
+                logger_.error(
+                    "Failed to re-submit receive transfer: {} ({}). Terminating...", ret,
+                    helper::libusb_errname(ret));
+            destroy_libusb_transfer(transfer);
+
+            // TODO: Replace abrupt termination with a flag and exception-based error handling
+            std::terminate();
+        }
+    }
+
+    void destroy_free_transmit_transfers() noexcept {
+        free_transmit_transfers_.pop_front_n([](TransferWrapper* wrapper) noexcept {
+            wrapper->destroy();
+            delete wrapper;
+        });
+    }
+
+    libusb_transfer* create_libusb_transfer() {
+        auto* transfer = libusb_alloc_transfer(0);
+        if (!transfer)
+            throw std::bad_alloc{};
+        active_transfers_.fetch_add(1, std::memory_order::relaxed);
+        return transfer;
+    }
+
+    void destroy_libusb_transfer(libusb_transfer* transfer) noexcept {
+        libusb_free_transfer(transfer);
+        active_transfers_.fetch_sub(1, std::memory_order::relaxed);
+    }
+
+    static constexpr int kTargetInterface = 0x00;
+
+    static constexpr unsigned char kOutEndpoint = 0x01;
+    static constexpr unsigned char kInEndpoint = 0x81;
+
+    static constexpr size_t kTransmitTransferCount = 64;
+    static constexpr size_t kReceiveTransferCount = 4;
+
+    logging::Logger& logger_;
+
+    libusb_context* libusb_context_ = nullptr;
+    libusb_device_handle* libusb_device_handle_ = nullptr;
+
+    std::thread event_thread_;
+
+    std::atomic<int> active_transfers_ = 0;
+    std::atomic<bool> stop_handling_events_ = false;
+
+    utility::RingBuffer<TransferWrapper*> free_transmit_transfers_;
+    std::mutex transmit_transfer_pop_mutex_, transmit_transfer_push_mutex_;
+
+    std::function<void(std::span<const std::byte>)> receive_callback_;
+    std::chrono::steady_clock::time_point last_rx_callback_timepoint_ =
+        std::chrono::steady_clock::time_point::min();
+};
+
+} // namespace usb
+
+std::unique_ptr<Transport>
+    create_usb_transport(uint16_t usb_vid, int32_t usb_pid, std::string_view serial_filter) {
+    return std::make_unique<usb::Usb>(usb_vid, usb_pid, serial_filter);
+}
+
+} // namespace librmcs::host::transport
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/assert.cpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/assert.cpp
new file mode 100644
index 0000000..51479f7
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/assert.cpp
@@ -0,0 +1,17 @@
+#include "core/src/utility/assert.hpp"
+
+#include <exception>
+#include <iostream>
+#include <print>
+#include <source_location>
+
+namespace librmcs::core::utility {
+
+[[noreturn]] void assert_func(const std::source_location& location) {
+    std::println(
+        std::cerr, "Assertion failed at {}:{} in function {}", location.file_name(),
+        location.line(), location.function_name());
+    std::terminate();
+}
+
+} // namespace librmcs::core::utility
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/cross_os.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/cross_os.hpp
new file mode 100644
index 0000000..5f465f7
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/cross_os.hpp
@@ -0,0 +1,35 @@
+#pragma once
+
+namespace librmcs::host::utility {
+
+#ifdef _MSC_VER
+# define PACKED_STRUCT(...) __pragma(pack(push, 1)) struct __VA_ARGS__ __pragma(pack(pop))
+#elif defined(__GNUC__)
+# define PACKED_STRUCT(...) struct __attribute__((packed)) __VA_ARGS__
+#endif
+
+constexpr static bool is_linux() {
+#ifdef __linux__
+    return true;
+#else
+    return false;
+#endif
+}
+
+constexpr static bool is_windows() {
+#if defined(_WIN32) || defined(WIN32)
+    return true;
+#else
+    return false;
+#endif
+}
+
+#if defined(_MSC_VER)
+# define ALWAYS_INLINE __forceinline
+#elif defined(__GNUC__) || defined(__clang__)
+# define ALWAYS_INLINE __attribute__((always_inline)) inline
+#else
+# define ALWAYS_INLINE inline
+#endif
+
+} // namespace librmcs::host::utility
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/final_action.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/final_action.hpp
new file mode 100644
index 0000000..e3f079c
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/final_action.hpp
@@ -0,0 +1,32 @@
+#pragma once
+
+#include <utility>
+
+namespace librmcs::host::utility {
+
+template <typename Functor>
+requires requires(Functor& action) {
+    { action() } noexcept;
+} struct FinalAction {
+    constexpr explicit FinalAction(Functor action)
+        : action_{std::move(action)} {}
+
+    constexpr FinalAction(const FinalAction&) = delete;
+    constexpr FinalAction& operator=(const FinalAction&) = delete;
+    constexpr FinalAction(FinalAction&&) = delete;
+    constexpr FinalAction& operator=(FinalAction&&) = delete;
+
+    ~FinalAction() noexcept {
+        if (enabled_) {
+            action_();
+        }
+    }
+
+    void disable() { enabled_ = false; }
+
+private:
+    bool enabled_{true};
+    Functor action_;
+};
+
+} // namespace librmcs::host::utility
diff --git a/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/ring_buffer.hpp b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/ring_buffer.hpp
new file mode 100644
index 0000000..9a8cb39
--- /dev/null
+++ b/librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/ring_buffer.hpp
@@ -0,0 +1,277 @@
+#pragma once
+
+#include <algorithm>
+#include <atomic>
+#include <cstddef>
+#include <limits>
+#include <memory>
+#include <new>
+#include <utility>
+
+namespace librmcs::host::utility {
+
+// Lock-free Single-Producer/Single-Consumer (SPSC) ring buffer
+// Inspired by Linux kfifo.
+template <typename T>
+class RingBuffer {
+public:
+    /*!
+     * @brief Construct an SPSC ring buffer
+     * @param size Minimum capacity requested. Actual capacity is rounded up
+     *        to the next power of two and clamped to at least 2.
+     * @note This data structure is single-producer/single-consumer. Only one
+     *       thread may push, and only one thread may pop, at a time.
+     */
+    explicit RingBuffer(size_t size) {
+        if (size <= 2)
+            size = 2;
+        else
+            size = round_up_to_next_power_of_2(size);
+        mask_ = size - 1;
+        storage_ = new Storage[size];
+    }
+
+    RingBuffer(const RingBuffer&) = delete;
+    RingBuffer& operator=(const RingBuffer&) = delete;
+    RingBuffer(RingBuffer&&) = delete;
+    RingBuffer& operator=(RingBuffer&&) = delete;
+
+    /*!
+     * @brief Destructor
+     * Destroys all elements remaining in the buffer and frees storage.
+     */
+    ~RingBuffer() {
+        clear();
+        delete[] storage_;
+    }
+
+    /*!
+     * @brief Capacity of the ring buffer
+     * @return Total number of slots (power of two)
+     */
+    size_t max_size() const { return mask_ + 1; }
+
+    /*!
+     * @brief Number of elements currently readable
+     * @return Count of elements available to the consumer
+     * @note Uses acquire on producer index and relaxed on consumer index to
+     *       ensure visibility of constructed elements to the consumer.
+     */
+    size_t readable() const {
+        const auto in = in_.load(std::memory_order::acquire);
+        const auto out = out_.load(std::memory_order::relaxed);
+        return in - out;
+    }
+
+    /*!
+     * @brief Number of free slots for producer
+     * @return Count of slots available to write
+     * @note Uses relaxed on producer index and acquire on consumer index to
+     *       avoid overrun while allowing the producer to run without contention.
+     */
+    size_t writable() const {
+        const auto in = in_.load(std::memory_order::relaxed);
+        const auto out = out_.load(std::memory_order::acquire);
+        return max_size() - (in - out);
+    }
+
+    /*!
+     * @brief Peek the first element (consumer side)
+     * @return Pointer to the first element, or nullptr if empty
+     * @warning Do not call from producer thread. The pointer remains valid
+     *          until the element is popped or overwritten.
+     */
+    T* peek_front() {
+        const auto out = out_.load(std::memory_order::relaxed);
+
+        if (out == in_.load(std::memory_order::acquire))
+            return nullptr;
+
+        return std::launder(reinterpret_cast<T*>(storage_[out & mask_].data));
+    }
+
+    /*!
+     * @brief Peek the last produced element (consumer side)
+     * @return Pointer to the last element, or nullptr if empty
+     * @warning Do not call from producer thread. The pointer remains valid
+     *          until the element is popped or overwritten.
+     */
+    T* peek_back() {
+        const auto in = in_.load(std::memory_order::acquire);
+
+        if (in == out_.load(std::memory_order::relaxed))
+            return nullptr;
+
+        return std::launder(reinterpret_cast<T*>(storage_[(in - 1) & mask_].data));
+    }
+
+    /*!
+     * @brief Batch-construct elements at the tail (producer)
+     * @tparam F Functor with signature `void(std::byte* storage)` that constructs
+     *         a `T` in-place via placement-new.
+     * @param count Maximum number of elements to construct (defaults to as many as fit)
+     * @return Number of elements actually constructed
+     * @note Producer-only. Publishes with release semantics.
+     */
+    template <typename F>
+    requires requires(F& f, std::byte* storage) {
+        { f(storage) } noexcept;
+    }
+    size_t emplace_back_n(F construct_functor, size_t count = std::numeric_limits<size_t>::max()) {
+        const auto in = in_.load(std::memory_order::relaxed);
+        const auto out = out_.load(std::memory_order::acquire);
+
+        const auto writable = max_size() - (in - out);
+
+        if (count > writable)
+            count = writable;
+        if (!count)
+            return 0;
+
+        const auto offset = in & mask_;
+        const auto slice = std::min(count, max_size() - offset);
+
+        for (size_t i = 0; i < slice; i++)
+            construct_functor(storage_[offset + i].data);
+        for (size_t i = 0; i < count - slice; i++)
+            construct_functor(storage_[i].data);
+
+        in_.store(in + count, std::memory_order::release);
+
+        return count;
+    }
+
+    /*!
+     * @brief Construct one element in-place at the tail (producer)
+     * @return true if pushed, false if buffer is full
+     */
+    template <typename... Args>
+    bool emplace_back(Args&&... args) {
+        return emplace_back_n(
+            [&](std::byte* storage) noexcept(noexcept(T{std::forward<Args>(args)...})) {
+                new (storage) T{std::forward<Args>(args)...};
+            },
+            1);
+    }
+
+    /*!
+     * @brief Batch-push using a generator (producer)
+     * @tparam F Functor returning a `T` to be stored
+     * @param count Maximum number to generate/push
+     * @return Number of elements actually pushed
+     */
+    template <typename F>
+    requires requires(F& f) {
+        { f() } noexcept;
+        { T{f()} } noexcept;
+    } size_t push_back_n(F generator, size_t count = std::numeric_limits<size_t>::max()) {
+        return emplace_back_n(
+            [&](std::byte* storage) noexcept(noexcept(T{generator()})) {
+                new (storage) T{generator()};
+            },
+            count);
+    }
+
+    /*!
+     * @brief Push a copy of value (producer)
+     * @return true if pushed, false if buffer is full
+     */
+    bool push_back(const T& value) {
+        return emplace_back_n(
+            [&](std::byte* storage) noexcept(noexcept(T{value})) { new (storage) T{value}; }, 1);
+    }
+    /*!
+     * @brief Push by moving value (producer)
+     * @return true if pushed, false if buffer is full
+     */
+    bool push_back(T&& value) {
+        return emplace_back_n(
+            [&](std::byte* storage) noexcept(noexcept(T{std::move(value)})) {
+                new (storage) T{std::move(value)};
+            },
+            1);
+    }
+
+    /*!
+     * @brief Batch-pop elements from the head (consumer)
+     * @tparam F Functor with signature `void(T)` receiving moved-out elements
+     * @param count Maximum number of elements to pop (defaults to all available)
+     * @return Number of elements actually popped
+     * @note Consumer-only. Consumes with release on `out_` and destroys elements.
+     */
+    template <typename F>
+    requires requires(F& f, T& t) {
+        { f(std::move(t)) } noexcept;
+    } size_t pop_front_n(F callback_functor, size_t count = std::numeric_limits<size_t>::max()) {
+        const auto in = in_.load(std::memory_order::acquire);
+        const auto out = out_.load(std::memory_order::relaxed);
+
+        const auto readable = in - out;
+        count = std::min(count, readable);
+        if (!count)
+            return 0;
+
+        const auto offset = out & mask_;
+        const auto slice = std::min(count, max_size() - offset);
+
+        auto process = [&callback_functor](std::byte* storage) {
+            auto& element = *std::launder(reinterpret_cast<T*>(storage));
+            callback_functor(std::move(element));
+            std::destroy_at(&element);
+        };
+        for (size_t i = 0; i < slice; i++)
+            process(storage_[offset + i].data);
+        for (size_t i = 0; i < count - slice; i++)
+            process(storage_[i].data);
+
+        out_.store(out + count, std::memory_order::release);
+
+        return count;
+    }
+
+    /*!
+     * @brief Pop one element (consumer)
+     * @return true if an element was popped, false if empty
+     */
+    template <typename F>
+    requires requires(F& f, T& t) {
+        { f(std::move(t)) } noexcept;
+    } bool pop_front(F&& callback_functor) {
+        return pop_front_n(std::forward<F>(callback_functor), 1);
+    }
+
+    /*!
+     * @brief Clear the buffer by consuming all elements
+     * @return Number of elements that were erased
+     */
+    size_t clear() {
+        return pop_front_n([](const T&) noexcept {});
+    }
+
+private:
+    /*!
+     * @brief Round up to next power of two
+     * @note Assumes n > 0. Handles 32/64-bit size_t.
+     */
+    constexpr static size_t round_up_to_next_power_of_2(size_t n) {
+        n--;
+        n |= n >> 1;
+        n |= n >> 2;
+        n |= n >> 4;
+        n |= n >> 8;
+        n |= n >> 16;
+        if constexpr (sizeof(size_t) > 4)
+            n |= n >> 32;
+        n++;
+        return n;
+    }
+
+    size_t mask_;
+    struct Storage {
+        alignas(T) std::byte data[sizeof(T)];
+    }* storage_;
+
+    std::atomic<size_t> in_{0}, out_{0};
+};
+
+} // namespace librmcs::host::utility