Implemented initial robot state and parsing

src/ur/master_board.cpp

@@ -0,0 +1,66 @@
+#include "ur_modern_driver/ur/master_board.h"
+
+bool SharedMasterBoardData::parse_with(BinParser &bp) {
+    bp.parse(analog_input_range0);
+    bp.parse(analog_input_range1);
+    bp.parse(analog_input0);
+    bp.parse(analog_input1);    
+    bp.parse(analog_output_domain0);
+    bp.parse(analog_output_domain1);
+    bp.parse(analog_output0);
+    bp.parse(analog_output1);
+    bp.parse(master_board_temperature);
+    bp.parse(robot_voltage_48V);
+    bp.parse(robot_current);
+    bp.parse(master_IO_current);
+    return true;
+}
+
+bool MasterBoardData_V1_X::parse_with(BinParser &bp) {
+    if(!bp.check_size<MasterBoardData_V1_X>())
+        return false;
+
+    bp.parse(digital_input_bits);
+    bp.parse(digital_output_bits);
+
+    SharedMasterBoardData::parse_with(bp);
+
+    bp.parse(master_safety_state);
+    bp.parse(master_on_off_state);
+    bp.parse(euromap67_interface_installed);
+
+    if(euromap67_interface_installed) {
+        if(!bp.check_size(MasterBoardData_V1_X::EURO_SIZE))
+            return false;
+
+        bp.parse(euromap_voltage);
+        bp.parse(euromap_current);
+    }
+
+    return true;
+}
+
+bool MasterBoardData_V3_X::parse_with(BinParser &bp) {
+    if(!bp.check_size<MasterBoardData_V3_X>())
+        return false;
+
+    bp.parse(digital_input_bits);
+    bp.parse(digital_output_bits);
+    
+    SharedMasterBoardData::parse_with(bp);
+
+    bp.parse(safety_mode);
+    bp.parse(in_reduced_mode);
+    bp.parse(euromap67_interface_installed);
+
+    if(euromap67_interface_installed) {
+        if(!bp.check_size(MasterBoardData_V3_X::EURO_SIZE))
+            return false;
+            
+        bp.parse(euromap_voltage);
+        bp.parse(euromap_current);
+    }
+
+    return true;
+}
+