Implement message type TDATA #17
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This commit implements the TDATA message type, which is the first composite message type to be implemented in pyigtl. The message is abstracted in an object-oriented fashion by composition, i.e. TDataMessage requires a list of TDataRecord objects in the constructor. So far, this implementation has only been tested with the project's unit testing framework. It still needs to be tested with the reference implementation of OpenIGTLink.
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This PR implements the first composite message type, namely TDATA. In the API, the message object is constructed by creating a TDataMessage-type object, supplying an iterable (e.g. list) of TDataRecord objects in the constructor.
The code has been successfully tested with the unit test file, but a test with the OpenIGTLink reference implementation still needs to be done.