Implemented URStateParser, URRTStateParser and URProducer

include/ur_modern_driver/ur/parser.h

@@ -0,0 +1,52 @@
+#pragma once
+#include "ur_modern_driver/log.h"
+#include "ur_modern_driver/parser.h"
+#include "ur_modern_driver/ur/state.h"
+
+template <typename T>
+class URStateParser : public Parser {
+    std::unique_ptr<Packet> parse(BinParser &bp)  {
+        int32_t packet_size = bp.peek<int32_t>();
+        message_type type;
+
+        if(!bp.check_size(packet_size)) {
+            LOG_ERROR("Buffer len shorter than expected packet length\n");
+            return std::unique_ptr<Packet>(nullptr);        
+        }
+
+        bp.parse(packet_size); //consumes the peeked data
+        bp.parse(type);
+
+        if(type != message_type::ROBOT_STATE) {
+            LOG_ERROR("Invalid message type recieved: %u\n", static_cast<uint8_t>(type));
+            return std::unique_ptr<Packet>(nullptr);
+        }
+
+        std::unique_ptr<Packet> obj(new T);
+        if(obj->parse_with(bp))
+            return obj;
+        
+        return std::unique_ptr<Packet>(nullptr);
+    }
+};
+
+
+template <typename T>
+class URRTStateParser : public Parser {
+    std::unique_ptr<Packet> parse(BinParser &bp)  {
+        int32_t packet_size = bp.peek<int32_t>();
+
+        if(!bp.check_size(packet_size)) {
+            LOG_ERROR("Buffer len shorter than expected packet length\n");
+            return std::unique_ptr<Packet>(nullptr);        
+        }
+
+        bp.parse(packet_size); //consumes the peeked data
+
+        std::unique_ptr<Packet> obj(new T);
+        if(obj->parse_with(bp))
+            return obj;
+        
+        return std::unique_ptr<Packet>(nullptr);
+    }
+};

include/ur_modern_driver/ur/producer.h

@@ -0,0 +1,21 @@
+#pragma once
+#include "ur_modern_driver/pipeline.h"
+#include "ur_modern_driver/ur/stream.h"
+#include "ur_modern_driver/packet.h"
+#include "ur_modern_driver/parser.h"
+
+class URProducer : public IProducer<Packet> {
+private:
+    URStream &_stream;
+    Parser &_parser;
+
+public:
+    URProducer(URStream &stream, Parser &parser) 
+        : _stream(stream), 
+        _parser(parser) { }
+    
+    void setup_producer();
+    void teardown_producer();
+    void stop_producer();
+    std::unique_ptr<Packet> try_get();
+};