Major refactor

include/ur_modern_driver/ur/server.h

@@ -6,14 +6,25 @@
 #include <mutex>
 #include <atomic>
 #include <string>
-#include "ur_modern_driver/ur/stream.h"
+#include "ur_modern_driver/tcp_socket.h"
 
-class URServer
+class URServer : private TCPSocket
 {
 private:
-  int socket_fd_ = -1;
+  int port_;
+  SocketState state_;
+  TCPSocket client_;
+
+protected:
+  virtual bool open(int socket_fd, struct sockaddr *address, size_t address_len)
+  {
+    return ::bind(socket_fd, address, address_len) == 0;
+  }
 
 public:
   URServer(int port);
-  URStream accept();
+  std::string getIP();
+  bool bind();
+  bool accept();
+  bool write(const uint8_t* buf, size_t buf_len, size_t &written);
 };