From 463c3c47740f367d2731b9d92eb8c6872df20747 Mon Sep 17 00:00:00 2001
From: zlq04222 <1542498005@qq.com>
Date: Fri, 20 Mar 2026 09:02:03 +0800
Subject: [PATCH] Add files via upload
---
.../CMakeLists.txt | 5 +
.../CMakePresets.json | 6 +
.../LICENSE | 674 ++++++++++++++++++
.../core/include/librmcs/data/datas.hpp | 98 +++
.../core/setup-clangd | 45 ++
.../core/src/coroutine/lifo.hpp | 272 +++++++
.../core/src/protocol/constant.hpp | 9 +
.../core/src/protocol/deserializer.cpp | 285 ++++++++
.../core/src/protocol/deserializer.hpp | 264 +++++++
.../core/src/protocol/protocol.hpp | 132 ++++
.../core/src/protocol/serializer.hpp | 437 ++++++++++++
.../core/src/utility/assert.hpp | 58 ++
.../core/src/utility/bitfield.hpp | 273 +++++++
.../core/src/utility/immovable.hpp | 15 +
.../core/src/utility/stack_allocator.hpp | 95 +++
.../core/src/utility/uncopyable.hpp | 15 +
.../core/src/utility/verify.hpp | 19 +
.../host/CMakeLists.txt | 168 +++++
.../host/CMakePresets.json | 25 +
.../host/include/librmcs/agent/c_board.hpp | 125 ++++
.../host/include/librmcs/agent/rmcs_board.hpp | 132 ++++
.../host/include/librmcs/export.hpp | 19 +
.../host/include/librmcs/protocol/handler.hpp | 62 ++
.../host/src/logging/logging.hpp | 163 +++++
.../host/src/protocol/handler.cpp | 228 ++++++
.../host/src/protocol/stream_buffer.hpp | 227 ++++++
.../host/src/transport/transport.hpp | 144 ++++
.../host/src/transport/usb/device_scanner.hpp | 422 +++++++++++
.../host/src/transport/usb/helper.hpp | 26 +
.../host/src/transport/usb/usb.cpp | 360 ++++++++++
.../host/src/utility/assert.cpp | 17 +
.../host/src/utility/cross_os.hpp | 35 +
.../host/src/utility/final_action.hpp | 32 +
.../host/src/utility/ring_buffer.hpp | 277 +++++++
34 files changed, 5164 insertions(+)
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/CMakeLists.txt
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/CMakePresets.json
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/LICENSE
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/include/librmcs/data/datas.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/setup-clangd
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/coroutine/lifo.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/constant.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/deserializer.cpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/deserializer.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/protocol.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/protocol/serializer.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/assert.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/bitfield.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/immovable.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/stack_allocator.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/uncopyable.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/src/utility/verify.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/CMakeLists.txt
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/CMakePresets.json
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/agent/c_board.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/agent/rmcs_board.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/export.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/include/librmcs/protocol/handler.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/logging/logging.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/protocol/handler.cpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/protocol/stream_buffer.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/transport.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/usb/device_scanner.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/usb/helper.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/transport/usb/usb.cpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/assert.cpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/cross_os.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/final_action.hpp
create mode 100644 librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/host/src/utility/ring_buffer.hpp
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 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc.
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+ The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works. By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users. We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors. You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+ To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights. Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+ For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received. You must make sure that they, too, receive
+or can get the source code. And you must show them these terms so they
+know their rights.
+
+ Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+ For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software. For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+ Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
+can do so. This is fundamentally incompatible with the aim of
+protecting users' freedom to change the software. The systematic
+pattern of such abuse occurs in the area of products for individuals to
+use, which is precisely where it is most unacceptable. Therefore, we
+have designed this version of the GPL to prohibit the practice for those
+products. If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
+of the GPL, as needed to protect the freedom of users.
+
+ Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary. To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+ The precise terms and conditions for copying, distribution and
+modification follow.
+
+ TERMS AND CONDITIONS
+
+ 0. Definitions.
+
+ "This License" refers to version 3 of the GNU General Public License.
+
+ "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+ "The Program" refers to any copyrightable work licensed under this
+License. Each licensee is addressed as "you". "Licensees" and
+"recipients" may be individuals or organizations.
+
+ To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of an
+exact copy. The resulting work is called a "modified version" of the
+earlier work or a work "based on" the earlier work.
+
+ A "covered work" means either the unmodified Program or a work based
+on the Program.
+
+ To "propagate" a work means to do anything with it that, without
+permission, would make you directly or secondarily liable for
+infringement under applicable copyright law, except executing it on a
+computer or modifying a private copy. Propagation includes copying,
+distribution (with or without modification), making available to the
+public, and in some countries other activities as well.
+
+ To "convey" a work means any kind of propagation that enables other
+parties to make or receive copies. Mere interaction with a user through
+a computer network, with no transfer of a copy, is not conveying.
+
+ An interactive user interface displays "Appropriate Legal Notices"
+to the extent that it includes a convenient and prominently visible
+feature that (1) displays an appropriate copyright notice, and (2)
+tells the user that there is no warranty for the work (except to the
+extent that warranties are provided), that licensees may convey the
+work under this License, and how to view a copy of this License. If
+the interface presents a list of user commands or options, such as a
+menu, a prominent item in the list meets this criterion.
+
+ 1. Source Code.
+
+ The "source code" for a work means the preferred form of the work
+for making modifications to it. "Object code" means any non-source
+form of a work.
+
+ A "Standard Interface" means an interface that either is an official
+standard defined by a recognized standards body, or, in the case of
+interfaces specified for a particular programming language, one that
+is widely used among developers working in that language.
+
+ The "System Libraries" of an executable work include anything, other
+than the work as a whole, that (a) is included in the normal form of
+packaging a Major Component, but which is not part of that Major
+Component, and (b) serves only to enable use of the work with that
+Major Component, or to implement a Standard Interface for which an
+implementation is available to the public in source code form. A
+"Major Component", in this context, means a major essential component
+(kernel, window system, and so on) of the specific operating system
+(if any) on which the executable work runs, or a compiler used to
+produce the work, or an object code interpreter used to run it.
+
+ The "Corresponding Source" for a work in object code form means all
+the source code needed to generate, install, and (for an executable
+work) run the object code and to modify the work, including scripts to
+control those activities. However, it does not include the work's
+System Libraries, or general-purpose tools or generally available free
+programs which are used unmodified in performing those activities but
+which are not part of the work. For example, Corresponding Source
+includes interface definition files associated with source files for
+the work, and the source code for shared libraries and dynamically
+linked subprograms that the work is specifically designed to require,
+such as by intimate data communication or control flow between those
+subprograms and other parts of the work.
+
+ The Corresponding Source need not include anything that users
+can regenerate automatically from other parts of the Corresponding
+Source.
+
+ The Corresponding Source for a work in source code form is that
+same work.
+
+ 2. Basic Permissions.
+
+ All rights granted under this License are granted for the term of
+copyright on the Program, and are irrevocable provided the stated
+conditions are met. This License explicitly affirms your unlimited
+permission to run the unmodified Program. The output from running a
+covered work is covered by this License only if the output, given its
+content, constitutes a covered work. This License acknowledges your
+rights of fair use or other equivalent, as provided by copyright law.
+
+ You may make, run and propagate covered works that you do not
+convey, without conditions so long as your license otherwise remains
+in force. You may convey covered works to others for the sole purpose
+of having them make modifications exclusively for you, or provide you
+with facilities for running those works, provided that you comply with
+the terms of this License in conveying all material for which you do
+not control copyright. Those thus making or running the covered works
+for you must do so exclusively on your behalf, under your direction
+and control, on terms that prohibit them from making any copies of
+your copyrighted material outside their relationship with you.
+
+ Conveying under any other circumstances is permitted solely under
+the conditions stated below. Sublicensing is not allowed; section 10
+makes it unnecessary.
+
+ 3. Protecting Users' Legal Rights From Anti-Circumvention Law.
+
+ No covered work shall be deemed part of an effective technological
+measure under any applicable law fulfilling obligations under article
+11 of the WIPO copyright treaty adopted on 20 December 1996, or
+similar laws prohibiting or restricting circumvention of such
+measures.
+
+ When you convey a covered work, you waive any legal power to forbid
+circumvention of technological measures to the extent such circumvention
+is effected by exercising rights under this License with respect to
+the covered work, and you disclaim any intention to limit operation or
+modification of the work as a means of enforcing, against the work's
+users, your or third parties' legal rights to forbid circumvention of
+technological measures.
+
+ 4. Conveying Verbatim Copies.
+
+ You may convey verbatim copies of the Program's source code as you
+receive it, in any medium, provided that you conspicuously and
+appropriately publish on each copy an appropriate copyright notice;
+keep intact all notices stating that this License and any
+non-permissive terms added in accord with section 7 apply to the code;
+keep intact all notices of the absence of any warranty; and give all
+recipients a copy of this License along with the Program.
+
+ You may charge any price or no price for each copy that you convey,
+and you may offer support or warranty protection for a fee.
+
+ 5. Conveying Modified Source Versions.
+
+ You may convey a work based on the Program, or the modifications to
+produce it from the Program, in the form of source code under the
+terms of section 4, provided that you also meet all of these conditions:
+
+ a) The work must carry prominent notices stating that you modified
+ it, and giving a relevant date.
+
+ b) The work must carry prominent notices stating that it is
+ released under this License and any conditions added under section
+ 7. This requirement modifies the requirement in section 4 to
+ "keep intact all notices".
+
+ c) You must license the entire work, as a whole, under this
+ License to anyone who comes into possession of a copy. This
+ License will therefore apply, along with any applicable section 7
+ additional terms, to the whole of the work, and all its parts,
+ regardless of how they are packaged. This License gives no
+ permission to license the work in any other way, but it does not
+ invalidate such permission if you have separately received it.
+
+ d) If the work has interactive user interfaces, each must display
+ Appropriate Legal Notices; however, if the Program has interactive
+ interfaces that do not display Appropriate Legal Notices, your
+ work need not make them do so.
+
+ A compilation of a covered work with other separate and independent
+works, which are not by their nature extensions of the covered work,
+and which are not combined with it such as to form a larger program,
+in or on a volume of a storage or distribution medium, is called an
+"aggregate" if the compilation and its resulting copyright are not
+used to limit the access or legal rights of the compilation's users
+beyond what the individual works permit. Inclusion of a covered work
+in an aggregate does not cause this License to apply to the other
+parts of the aggregate.
+
+ 6. Conveying Non-Source Forms.
+
+ You may convey a covered work in object code form under the terms
+of sections 4 and 5, provided that you also convey the
+machine-readable Corresponding Source under the terms of this License,
+in one of these ways:
+
+ a) Convey the object code in, or embodied in, a physical product
+ (including a physical distribution medium), accompanied by the
+ Corresponding Source fixed on a durable physical medium
+ customarily used for software interchange.
+
+ b) Convey the object code in, or embodied in, a physical product
+ (including a physical distribution medium), accompanied by a
+ written offer, valid for at least three years and valid for as
+ long as you offer spare parts or customer support for that product
+ model, to give anyone who possesses the object code either (1) a
+ copy of the Corresponding Source for all the software in the
+ product that is covered by this License, on a durable physical
+ medium customarily used for software interchange, for a price no
+ more than your reasonable cost of physically performing this
+ conveying of source, or (2) access to copy the
+ Corresponding Source from a network server at no charge.
+
+ c) Convey individual copies of the object code with a copy of the
+ written offer to provide the Corresponding Source. This
+ alternative is allowed only occasionally and noncommercially, and
+ only if you received the object code with such an offer, in accord
+ with subsection 6b.
+
+ d) Convey the object code by offering access from a designated
+ place (gratis or for a charge), and offer equivalent access to the
+ Corresponding Source in the same way through the same place at no
+ further charge. You need not require recipients to copy the
+ Corresponding Source along with the object code. If the place to
+ copy the object code is a network server, the Corresponding Source
+ may be on a different server (operated by you or a third party)
+ that supports equivalent copying facilities, provided you maintain
+ clear directions next to the object code saying where to find the
+ Corresponding Source. Regardless of what server hosts the
+ Corresponding Source, you remain obligated to ensure that it is
+ available for as long as needed to satisfy these requirements.
+
+ e) Convey the object code using peer-to-peer transmission, provided
+ you inform other peers where the object code and Corresponding
+ Source of the work are being offered to the general public at no
+ charge under subsection 6d.
+
+ A separable portion of the object code, whose source code is excluded
+from the Corresponding Source as a System Library, need not be
+included in conveying the object code work.
+
+ A "User Product" is either (1) a "consumer product", which means any
+tangible personal property which is normally used for personal, family,
+or household purposes, or (2) anything designed or sold for incorporation
+into a dwelling. In determining whether a product is a consumer product,
+doubtful cases shall be resolved in favor of coverage. For a particular
+product received by a particular user, "normally used" refers to a
+typical or common use of that class of product, regardless of the status
+of the particular user or of the way in which the particular user
+actually uses, or expects or is expected to use, the product. A product
+is a consumer product regardless of whether the product has substantial
+commercial, industrial or non-consumer uses, unless such uses represent
+the only significant mode of use of the product.
+
+ "Installation Information" for a User Product means any methods,
+procedures, authorization keys, or other information required to install
+and execute modified versions of a covered work in that User Product from
+a modified version of its Corresponding Source. The information must
+suffice to ensure that the continued functioning of the modified object
+code is in no case prevented or interfered with solely because
+modification has been made.
+
+ If you convey an object code work under this section in, or with, or
+specifically for use in, a User Product, and the conveying occurs as
+part of a transaction in which the right of possession and use of the
+User Product is transferred to the recipient in perpetuity or for a
+fixed term (regardless of how the transaction is characterized), the
+Corresponding Source conveyed under this section must be accompanied
+by the Installation Information. But this requirement does not apply
+if neither you nor any third party retains the ability to install
+modified object code on the User Product (for example, the work has
+been installed in ROM).
+
+ The requirement to provide Installation Information does not include a
+requirement to continue to provide support service, warranty, or updates
+for a work that has been modified or installed by the recipient, or for
+the User Product in which it has been modified or installed. Access to a
+network may be denied when the modification itself materially and
+adversely affects the operation of the network or violates the rules and
+protocols for communication across the network.
+
+ Corresponding Source conveyed, and Installation Information provided,
+in accord with this section must be in a format that is publicly
+documented (and with an implementation available to the public in
+source code form), and must require no special password or key for
+unpacking, reading or copying.
+
+ 7. Additional Terms.
+
+ "Additional permissions" are terms that supplement the terms of this
+License by making exceptions from one or more of its conditions.
+Additional permissions that are applicable to the entire Program shall
+be treated as though they were included in this License, to the extent
+that they are valid under applicable law. If additional permissions
+apply only to part of the Program, that part may be used separately
+under those permissions, but the entire Program remains governed by
+this License without regard to the additional permissions.
+
+ When you convey a copy of a covered work, you may at your option
+remove any additional permissions from that copy, or from any part of
+it. (Additional permissions may be written to require their own
+removal in certain cases when you modify the work.) You may place
+additional permissions on material, added by you to a covered work,
+for which you have or can give appropriate copyright permission.
+
+ Notwithstanding any other provision of this License, for material you
+add to a covered work, you may (if authorized by the copyright holders of
+that material) supplement the terms of this License with terms:
+
+ a) Disclaiming warranty or limiting liability differently from the
+ terms of sections 15 and 16 of this License; or
+
+ b) Requiring preservation of specified reasonable legal notices or
+ author attributions in that material or in the Appropriate Legal
+ Notices displayed by works containing it; or
+
+ c) Prohibiting misrepresentation of the origin of that material, or
+ requiring that modified versions of such material be marked in
+ reasonable ways as different from the original version; or
+
+ d) Limiting the use for publicity purposes of names of licensors or
+ authors of the material; or
+
+ e) Declining to grant rights under trademark law for use of some
+ trade names, trademarks, or service marks; or
+
+ f) Requiring indemnification of licensors and authors of that
+ material by anyone who conveys the material (or modified versions of
+ it) with contractual assumptions of liability to the recipient, for
+ any liability that these contractual assumptions directly impose on
+ those licensors and authors.
+
+ All other non-permissive additional terms are considered "further
+restrictions" within the meaning of section 10. If the Program as you
+received it, or any part of it, contains a notice stating that it is
+governed by this License along with a term that is a further
+restriction, you may remove that term. If a license document contains
+a further restriction but permits relicensing or conveying under this
+License, you may add to a covered work material governed by the terms
+of that license document, provided that the further restriction does
+not survive such relicensing or conveying.
+
+ If you add terms to a covered work in accord with this section, you
+must place, in the relevant source files, a statement of the
+additional terms that apply to those files, or a notice indicating
+where to find the applicable terms.
+
+ Additional terms, permissive or non-permissive, may be stated in the
+form of a separately written license, or stated as exceptions;
+the above requirements apply either way.
+
+ 8. Termination.
+
+ You may not propagate or modify a covered work except as expressly
+provided under this License. Any attempt otherwise to propagate or
+modify it is void, and will automatically terminate your rights under
+this License (including any patent licenses granted under the third
+paragraph of section 11).
+
+ However, if you cease all violation of this License, then your
+license from a particular copyright holder is reinstated (a)
+provisionally, unless and until the copyright holder explicitly and
+finally terminates your license, and (b) permanently, if the copyright
+holder fails to notify you of the violation by some reasonable means
+prior to 60 days after the cessation.
+
+ Moreover, your license from a particular copyright holder is
+reinstated permanently if the copyright holder notifies you of the
+violation by some reasonable means, this is the first time you have
+received notice of violation of this License (for any work) from that
+copyright holder, and you cure the violation prior to 30 days after
+your receipt of the notice.
+
+ Termination of your rights under this section does not terminate the
+licenses of parties who have received copies or rights from you under
+this License. If your rights have been terminated and not permanently
+reinstated, you do not qualify to receive new licenses for the same
+material under section 10.
+
+ 9. Acceptance Not Required for Having Copies.
+
+ You are not required to accept this License in order to receive or
+run a copy of the Program. Ancillary propagation of a covered work
+occurring solely as a consequence of using peer-to-peer transmission
+to receive a copy likewise does not require acceptance. However,
+nothing other than this License grants you permission to propagate or
+modify any covered work. These actions infringe copyright if you do
+not accept this License. Therefore, by modifying or propagating a
+covered work, you indicate your acceptance of this License to do so.
+
+ 10. Automatic Licensing of Downstream Recipients.
+
+ Each time you convey a covered work, the recipient automatically
+receives a license from the original licensors, to run, modify and
+propagate that work, subject to this License. You are not responsible
+for enforcing compliance by third parties with this License.
+
+ An "entity transaction" is a transaction transferring control of an
+organization, or substantially all assets of one, or subdividing an
+organization, or merging organizations. If propagation of a covered
+work results from an entity transaction, each party to that
+transaction who receives a copy of the work also receives whatever
+licenses to the work the party's predecessor in interest had or could
+give under the previous paragraph, plus a right to possession of the
+Corresponding Source of the work from the predecessor in interest, if
+the predecessor has it or can get it with reasonable efforts.
+
+ You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License. For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+ 11. Patents.
+
+ A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based. The
+work thus licensed is called the contributor's "contributor version".
+
+ A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version. For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+ Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
+propagate the contents of its contributor version.
+
+ In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement). To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+ If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients. "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+ If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+ A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License. You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all. For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+ 13. Use with the GNU Affero General Public License.
+
+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+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.
+
+
+ Copyright (C)
+
+ 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 .
+
+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:
+
+ Copyright (C)
+ 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
+.
+
+ 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
+.
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
+#include
+#include
+
+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 can_data;
+ bool is_fdcan = false;
+ bool is_extended_can_id = false;
+ bool is_remote_transmission = false;
+};
+
+struct UartDataView {
+ std::span 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
+Creates symlinks in core/:
+ .clangd -> ..//.clangd
+ compile_commands.json -> ..//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
+#include
+#include
+#include
+#include
+#include
+
+#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 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
+class InlineLifoContext : public LifoContext {
+public:
+ constexpr InlineLifoContext() noexcept
+ : LifoContext(stack_buffer_) {}
+
+ constexpr LifoContext& context() { return static_cast(*this); }
+
+private:
+ alignas(std::max_align_t) std::byte stack_buffer_[stack_size]{};
+};
+
+template
+struct LifoStackedPromise {
+ template
+ 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(context.allocate(n + sizeof(LifoContext*)));
+ if (!p)
+ return nullptr;
+ new (p + n) LifoContext*(&context);
+
+ return static_cast(p);
+ }
+
+ template
+ 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(static_cast(p) + n));
+ context->deallocate(p, n + sizeof(LifoContext*));
+ } else {
+ static_context->deallocate(p, n);
+ }
+ }
+};
+
+template
+requires(
+ std::is_same_v || (std::is_move_assignable_v && std::is_default_constructible_v))
+class LifoTask {
+public:
+ struct promise_type : LifoStackedPromise {
+ 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::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 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) {
+ 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 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) {
+ 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 h) noexcept
+ : handle_(h) {}
+
+ const std::coroutine_handle handle_;
+};
+
+template
+class LifoTask {
+public:
+ struct promise_type : LifoStackedPromise {
+ 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::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 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 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 h) noexcept
+ : handle_(h) {}
+
+ const std::coroutine_handle 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
+
+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
+#include
+#include
+
+#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 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();
+ 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();
+ 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 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();
+ if (data_view.is_fdcan) [[unlikely]]
+ co_return false;
+
+ data_view.is_extended_can_id = header.get();
+ data_view.is_remote_transmission = header.get();
+ can_data_length = static_cast(header.get());
+ }
+
+ 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();
+ can_data_length = can_data_length ? header.get() + 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();
+ can_data_length = can_data_length ? header.get() + 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{can_data_bytes, can_data_length};
+ consume_peeked();
+ } else {
+ data_view.can_data = std::span{};
+ }
+
+ callback_.can_deserialized_callback(field_id, data_view);
+
+ co_return true;
+}
+
+coroutine::LifoTask 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();
+
+ if (!header.get()) {
+ uart_data_length = header.get();
+ } 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();
+ 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{uart_data_bytes, uart_data_length};
+ consume_peeked();
+ } else {
+ data_view.uart_data = std::span{};
+ }
+
+ callback_.uart_deserialized_callback(field_id, data_view);
+
+ co_return true;
+}
+
+coroutine::LifoTask 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();
+ channel = header.get();
+ 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();
+ 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();
+ data_view.rising_edge = payload.get();
+ data_view.falling_edge = payload.get();
+ data_view.period_ms = payload.get();
+ 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();
+ consume_peeked();
+
+ callback_.gpio_analog_data_deserialized_callback(data_view);
+ break;
+ }
+ default: co_return false;
+ }
+
+ co_return true;
+}
+
+coroutine::LifoTask 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();
+ 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();
+ data_view.y = payload.get();
+ data_view.z = payload.get();
+ 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();
+ data_view.y = payload.get();
+ data_view.z = payload.get();
+ 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
+#include
+#include
+#include
+#include
+
+#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 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(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 process_stream();
+
+ coroutine::LifoTask process_can_field(FieldId field_id);
+
+ coroutine::LifoTask process_uart_field(FieldId field_id);
+
+ coroutine::LifoTask process_gpio_field(FieldId field_id);
+
+ coroutine::LifoTask 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(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(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 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
+
+#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
+#include
+#include
+#include
+
+#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 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(can_data_length - 1) : 0;
+
+ if (view.is_extended_can_id) {
+ auto header = CanHeaderExtended::Ref(cursor);
+ cursor += sizeof(CanHeaderExtended);
+ header.set(false);
+ header.set(true);
+ header.set(view.is_remote_transmission);
+ header.set(has_data);
+ header.set(view.can_id);
+ header.set(data_length_code);
+ } else {
+ auto header = CanHeaderStandard::Ref(cursor);
+ cursor += sizeof(CanHeaderStandard);
+ header.set(false);
+ header.set(false);
+ header.set(view.is_remote_transmission);
+ header.set(has_data);
+ header.set(view.can_id);
+ header.set(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 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(view.idle_delimited);
+ header.set(true);
+ header.set(
+ static_cast(uart_data_length));
+ } else {
+ auto header = UartHeader::Ref(cursor);
+ cursor += sizeof(UartHeader);
+ header.set(view.idle_delimited);
+ header.set(false);
+ header.set(static_cast(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(payload_type);
+ header.set(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::PayloadEnum::kDigitalRead);
+ header.set(view.channel);
+
+ auto payload = GpioReadConfigPayload::Ref(cursor);
+ cursor += sizeof(GpioReadConfigPayload);
+ payload.set(view.asap);
+ payload.set(view.rising_edge);
+ payload.set(view.falling_edge);
+ payload.set(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::PayloadEnum::kAnalogWrite);
+ header.set(view.channel);
+
+ auto payload = GpioAnalogPayload::Ref(cursor);
+ cursor += sizeof(GpioAnalogPayload);
+ payload.set(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::PayloadEnum::kAnalogRead);
+ header.set(view.channel);
+
+ auto payload = GpioReadConfigPayload::Ref(cursor);
+ cursor += sizeof(GpioReadConfigPayload);
+ payload.set(view.asap);
+ payload.set(false);
+ payload.set(false);
+ payload.set(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(payload_type);
+ header.set(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::PayloadEnum::kAnalogReadResult);
+ header.set(view.channel);
+
+ auto payload = GpioAnalogPayload::Ref(cursor);
+ cursor += sizeof(GpioAnalogPayload);
+ payload.set(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::PayloadEnum::kAccelerometer);
+
+ auto payload = ImuAccelerometerPayload::Ref(cursor);
+ cursor += sizeof(ImuAccelerometerPayload);
+ payload.set(view.x);
+ payload.set(view.y);
+ payload.set(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::PayloadEnum::kGyroscope);
+
+ auto payload = ImuGyroscopePayload::Ref(cursor);
+ cursor += sizeof(ImuGyroscopePayload);
+ payload.set(view.x);
+ payload.set(view.y);
+ payload.set(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(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(FieldId::kExtend);
+ header.set(field_id);
+ } else {
+ auto header = FieldHeader::Ref(cursor);
+ header.set(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 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
+#include
+#include
+
+#ifndef NDEBUG
+# include
+#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
+requires std::is_nothrow_invocable_r_v 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(std::invoke(std::forward(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
+#include
+#include
+#include
+#include
+
+namespace librmcs::core::utility {
+
+struct BitfieldMemberTag {};
+
+template
+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 >
+requires(
+ std::is_trivial_v && sizeof(ValueT) <= sizeof(std::uint64_t)
+ && (std::is_integral_v || std::is_enum_v) && (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
+concept is_bitfield_member = std::derived_from;
+
+/**
+ * @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 types, which
+ * define the starting bit index and width. Access is performed via:
+ * - Bitfield::get(...) to read a field
+ * - Bitfield::set(...) 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(0xA);
+ * bf.set(true);
+ * bf.set(512);
+ * assert(bf.get() == 0xA);
+ * assert(bf.get() == true);
+ * assert(bf.get() == 512);
+ *
+ * @tparam size_in_bytes size of the underlying buffer in bytes
+ */
+template
+struct Bitfield {
+private:
+ template
+ 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
+ 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::max() / 8);
+
+ static constexpr std::size_t kSizeInBytes = size_in_bytes;
+ static constexpr std::size_t kSizeInBits = size_in_bytes * 8;
+
+ template
+ requires(check_member())
+ [[nodiscard]] static constexpr auto get(const std::byte* src) noexcept -> Member::ValueType {
+ return read_bits(src);
+ }
+
+ template
+ requires(check_member())
+ static constexpr void set(Member::ValueType value, std::byte* dst) noexcept {
+ write_bits(value, dst);
+ }
+
+ template
+ requires(check_member())
+ [[nodiscard]] constexpr auto get() const noexcept -> Member::ValueType {
+ return get(data);
+ }
+
+ template
+ requires(check_member()) constexpr void set(Member::ValueType value) noexcept {
+ set(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
+ requires(check_member())
+ [[nodiscard]] constexpr auto get() const noexcept -> Member::ValueType {
+ return Bitfield::template get(ptr_);
+ }
+
+ template
+ requires(check_member()) constexpr void set(Member::ValueType value) noexcept {
+ Bitfield::template set(value, ptr_);
+ }
+
+ private:
+ std::byte* ptr_;
+ };
+
+ struct CRef {
+ constexpr explicit CRef(const std::byte* ptr) noexcept
+ : ptr_(ptr) {}
+
+ template
+ requires(check_member())
+ [[nodiscard]] constexpr auto get() const noexcept -> Member::ValueType {
+ return Bitfield::template get(ptr_);
+ }
+
+ private:
+ const std::byte* ptr_;
+ };
+
+private:
+ template
+ [[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;
+
+ Word accum = 0;
+
+ for (std::size_t i = 0; i < span_bytes; ++i) {
+ auto b = std::to_integer(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 && std::is_signed_v) {
+ // 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>;
+ constexpr int shift_amount = (sizeof(ComputeType) * 8) - bit_width;
+ return static_cast(
+ (static_cast(value) << shift_amount) >> shift_amount);
+ } else {
+ return static_cast(value);
+ }
+ }
+
+ template
+ 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;
+
+ Word accum = 0;
+
+ for (std::size_t i = 0; i < span_bytes; ++i) {
+ auto b = std::to_integer(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((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
+#include
+#include
+
+#include "core/src/utility/assert.hpp"
+
+namespace librmcs::core::utility {
+
+template
+class BasicStackAllocator;
+
+template <>
+class BasicStackAllocator {
+public:
+ constexpr explicit BasicStackAllocator(std::span 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(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(p);
+ }
+
+protected:
+ std::byte *top_, *end_;
+};
+
+template <>
+class BasicStackAllocator : private BasicStackAllocator {
+ using Impl = BasicStackAllocator;
+
+public:
+ constexpr explicit BasicStackAllocator(std::span 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