Implemented URStream

include/ur_modern_driver/ur/stream.h

@@ -0,0 +1,30 @@
+#pragma once
+#include <string>
+#include <atomic>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netdb.h>
+
+/// Encapsulates a TCP socket 
+class URStream {
+private:
+    int _socket_fd = -1;
+    std::string _host;
+    int _port;
+
+    std::atomic<bool> _initialized;
+    std::atomic<bool> _stopping;
+
+public:
+    URStream(std::string &host, int port) 
+        : _host(host), 
+        _port(port),
+        _initialized(false),
+        _stopping(false) {}
+
+    bool connect();
+    void disconnect();
+
+    ssize_t send(uint8_t *buf, size_t buf_len);
+    ssize_t receive(uint8_t *buf, size_t buf_len);
+};