Implemented initial robot state and parsing

src/ur/robot_mode.cpp

@@ -0,0 +1,56 @@
+#include "ur_modern_driver/ur/robot_mode.h"
+
+
+bool SharedRobotModeData::parse_with(BinParser &bp) {
+    bp.parse(timestamp);
+    bp.parse(physical_robot_connected);
+    bp.parse(real_robot_enabled);
+    bp.parse(robot_power_on);
+    bp.parse(emergency_stopped);
+    return true;
+}
+
+
+bool RobotModeData_V1_X::parse_with(BinParser &bp) {
+    if(!bp.check_size<RobotModeData_V1_X>())
+        return false;
+
+    SharedRobotModeData::parse_with(bp);
+
+    bp.parse(security_stopped);
+    bp.parse(program_running);
+    bp.parse(program_paused);
+    bp.parse(robot_mode);
+    bp.parse(speed_fraction);
+
+    return true;
+}
+
+
+bool RobotModeData_V3_0__1::parse_with(BinParser &bp) {
+    if(!bp.check_size<RobotModeData_V3_0__1>())
+        return false;
+
+    SharedRobotModeData::parse_with(bp);
+    
+    bp.parse(protective_stopped);
+    bp.parse(program_running);
+    bp.parse(program_paused);
+    bp.parse(robot_mode);
+    bp.parse(control_mode);
+    bp.parse(target_speed_fraction);
+    bp.parse(speed_scaling);
+
+    return true;
+}
+
+bool RobotModeData_V3_2::parse_with(BinParser &bp) {
+    if(!bp.check_size<RobotModeData_V3_2>())
+        return false;
+
+    RobotModeData_V3_0__1::parse_with(bp);
+
+    bp.parse(target_speed_fraction_limit);
+
+    return true;
+}