Implemented initial robot state and parsing

include/ur_modern_driver/ur/state.h

@@ -0,0 +1,59 @@
+#pragma once
+#include <cstddef>
+#include <inttypes.h>
+#include "ur_modern_driver/bin_parser.h"
+#include "ur_modern_driver/packet.h"
+#include "ur_modern_driver/ur/master_board.h"
+#include "ur_modern_driver/ur/robot_mode.h"
+
+
+
+enum class package_type : uint8_t {
+	ROBOT_MODE_DATA = 0,
+	JOINT_DATA = 1,
+	TOOL_DATA = 2,
+	MASTERBOARD_DATA = 3,
+	CARTESIAN_INFO = 4,
+	KINEMATICS_INFO = 5,
+	CONFIGURATION_DATA = 6,
+	FORCE_MODE_DATA = 7,
+	ADDITIONAL_INFO = 8,
+	CALIBRATION_DATA = 9
+};
+
+enum class message_type : uint8_t {
+	ROBOT_STATE = 16, 
+    ROBOT_MESSAGE = 20, 
+    PROGRAM_STATE_MESSAGE = 25
+};
+
+
+class RobotState : public Packet {
+public:
+    bool parse_with(BinParser &bp);
+protected:
+    virtual bool parse_package(BinParser &bp) = 0;
+};
+
+class RobotState_V1_6__7 : public RobotState {
+protected:
+    virtual bool parse_package(BinParser &bp) = 0;
+public:
+    RobotModeData_V1_X robot_mode;
+    //JointData
+    //ToolData
+    MasterBoardData_V1_X master_board;
+    //CartesianInfo
+};
+
+class RobotState_V1_8 : public RobotState_V1_6__7 {
+protected:
+    virtual bool parse_package(BinParser &bp) = 0;
+public:
+    
+    //KinematicsInfo
+    //ConfigurationData
+    //ForceModeData
+    //AdditionalInfo
+    //CalibrationData
+};