Integrate RPC with RMT

components/ptrQueue/include/PtrQueue.h

@@ -0,0 +1,43 @@
+//
+// Created by Johnathon Slightham on 2025-07-12.
+//
+
+#ifndef PTRQUEUE_H
+#define PTRQUEUE_H
+
+#include <memory>
+#include <iostream>
+
+// Wrapped FreeRTOS queue to support unique_ptr
+
+template <typename T>
+class PtrQueue {
+public:
+    explicit PtrQueue(UBaseType_t queueLength)
+        : queue(xQueueCreate(queueLength, sizeof(T*))) {}
+
+    ~PtrQueue() {
+        if (queue) {
+            vQueueDelete(queue);
+        }
+    }
+
+    bool enqueue(std::unique_ptr<T>&& item, const TickType_t timeout = portMAX_DELAY) {
+        T* rawPtr = item.release();  // Release ownership and get raw pointer
+        return xQueueSendToBack(queue, &rawPtr, timeout) == pdPASS;
+    }
+
+    std::unique_ptr<T> dequeue(const TickType_t timeout = portMAX_DELAY) {
+        T* rawPtr = nullptr;
+        if (xQueueReceive(queue, &rawPtr, timeout) == pdPASS) {
+            std::unique_ptr<T> ptr(rawPtr);
+            return ptr;
+        }
+        return nullptr;
+    }
+
+private:
+    QueueHandle_t queue;
+};
+
+#endif //PTRQUEUE_H