Improve primary client

[urmarp]

Improved primary interface, this includes following changes:

• Added message handlers for messages received through primary client

• Changed primary pipeline and full driver example

• Added datatype: vector6f_t and vector6uin8_t

• Added parsing of vector6f_t

• Changed timeout in producer

• Added parsing of more messages from primary interface

• Added calibration check in constructor of primary client

• Added calibration checksum to urdriver constructor

• Added test for primary client and primary parser

• Added funtionality to set robot as simulated or real

• Added wait in full driver example

[codecov[bot]]

Codecov Report

Base: 74.09% // Head: 75.53% // Increases project coverage by +1.44% :tada:

Coverage data is based on head (1d13676) compared to base (09adab9). Patch coverage: 68.91% of modified lines in pull request are covered.

:exclamation: Current head 1d13676 differs from pull request most recent head 3cd736a. Consider uploading reports for the commit 3cd736a to get more accurate results

Additional details and impacted files

```diff @@ Coverage Diff @@ ## master #137 +/- ## ========================================== + Coverage 74.09% 75.53% +1.44% ========================================== Files 91 135 +44 Lines 3462 4775 +1313 Branches 359 429 +70 ========================================== + Hits 2565 3607 +1042 - Misses 680 931 +251 - Partials 217 237 +20 ``` | [Impacted Files](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/137?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots) | Coverage Δ | | |---|---|---| | [include/ur\_client\_library/comm/bin\_parser.h](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/137?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-aW5jbHVkZS91cl9jbGllbnRfbGlicmFyeS9jb21tL2Jpbl9wYXJzZXIuaA==) | `89.23% <ø> (+14.76%)` | :arrow_up: | | [...client\_library/primary/abstract\_primary\_consumer.h](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/137?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-aW5jbHVkZS91cl9jbGllbnRfbGlicmFyeS9wcmltYXJ5L2Fic3RyYWN0X3ByaW1hcnlfY29uc3VtZXIuaA==) | `100.00% <ø> (ø)` | | | [.../ur\_client\_library/primary/program\_state\_message.h](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/137?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-aW5jbHVkZS91cl9jbGllbnRfbGlicmFyeS9wcmltYXJ5L3Byb2dyYW1fc3RhdGVfbWVzc2FnZS5o) | `0.00% <0.00%> (ø)` | | | [include/ur\_client\_library/primary/robot\_message.h](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/137?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-aW5jbHVkZS91cl9jbGllbnRfbGlicmFyeS9wcmltYXJ5L3JvYm90X21lc3NhZ2UuaA==) | `100.00% <ø> (ø)` | | | [.../primary/robot\_message/runtime\_exception\_message.h](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/137?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-aW5jbHVkZS91cl9jbGllbnRfbGlicmFyeS9wcmltYXJ5L3JvYm90X21lc3NhZ2UvcnVudGltZV9leGNlcHRpb25fbWVzc2FnZS5o) | `0.00% <0.00%> (ø)` | | | [include/ur\_client\_library/primary/robot\_state.h](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/137?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-aW5jbHVkZS91cl9jbGllbnRfbGlicmFyeS9wcmltYXJ5L3JvYm90X3N0YXRlLmg=) | `100.00% <ø> (ø)` | | | [include/ur\_client\_library/ur/calibration\_checker.h](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/137?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-aW5jbHVkZS91cl9jbGllbnRfbGlicmFyeS91ci9jYWxpYnJhdGlvbl9jaGVja2VyLmg=) | `83.33% <0.00%> (+16.66%)` | :arrow_up: | | [include/ur\_client\_library/ur/ur\_driver.h](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/137?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-aW5jbHVkZS91cl9jbGllbnRfbGlicmFyeS91ci91cl9kcml2ZXIuaA==) | `33.33% <ø> (ø)` | | | [src/primary/program\_state\_message.cpp](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/137?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-c3JjL3ByaW1hcnkvcHJvZ3JhbV9zdGF0ZV9tZXNzYWdlLmNwcA==) | `0.00% <0.00%> (ø)` | | | [...rimary/robot\_message/runtime\_exception\_message.cpp](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/137?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots#diff-c3JjL3ByaW1hcnkvcm9ib3RfbWVzc2FnZS9ydW50aW1lX2V4Y2VwdGlvbl9tZXNzYWdlLmNwcA==) | `0.00% <0.00%> (ø)` | | | ... and [100 more](https://codecov.io/gh/UniversalRobots/Universal_Robots_Client_Library/pull/137?src=pr&el=tree-more&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots) | | Help us with your feedback. Take ten seconds to tell us [how you rate us](https://about.codecov.io/nps?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots). Have a feature suggestion? [Share it here.](https://app.codecov.io/gh/feedback/?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=UniversalRobots)

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[fmauch]

@urmarp this would be easier to review if these were multiple commits.

[urmarp]

Before reviewing this any further: Could you please elaborate what you have done? What is the handler concept and why did you add this?

Again, splitting this into multiple commits (maybe with commit messages going into more detail) might make things a lot clearer.

I have split the commit into multiple commits and tried to explain the thoughts behind the changes.

Added message handlers for the messages from the primary interface. These handlers save the data from the latest message of each type, which can then be accessed through the primary client. The handlers also enable the possibility to handle the data differently for each message. The primary client can through its consumer get the message handlers and from the message handlers get the latest message of each type.

[fmauch]

Closing this in favor of #186