Refactoring, improvements and fixes

include/ur_modern_driver/ur/messages.h

@@ -1,6 +1,21 @@
 #pragma once
+#include <cstddef>
+#include <inttypes.h>
+#include "ur_modern_driver/packet.h"
 
-class MessageBase {
+enum class robot_message_type : uint8_t {
+	ROBOT_MESSAGE_TEXT = 0,
+	ROBOT_MESSAGE_PROGRAM_LABEL = 1,
+	PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
+	ROBOT_MESSAGE_VERSION = 3,
+	ROBOT_MESSAGE_SAFETY_MODE = 5,
+	ROBOT_MESSAGE_ERROR_CODE = 6,
+	ROBOT_MESSAGE_KEY = 7,
+	ROBOT_MESSAGE_REQUEST_VALUE = 9,
+	ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
+};
+
+class MessageBase : public Packet {
 public:
     virtual bool parse_with(BinParser &bp) = 0;
 
@@ -17,4 +32,4 @@ public:
     uint8_t minor_version;
     int32_t svn_version;
     std::string build_date;
-}
+};