Changes perception process.

Creates package perception thant contains new Perception class. This
class holds all perception information and renew logic. Also embeds this
class in work. As well does some changes in dataPars, creating some new
functions to get explicit data formats.
Solves problem with read message length.

Solves problem when length of message from server was not sent
correctly. Uses the same way to solve as before to solve memoryError
problem.
Removes some functions from dataPars and effectors from communication.