cod_decod.cpp

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/*
 * Copyright (c) 2013, Shadow Robot Company, All rights reserved.
 * 
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3.0 of the License, or (at your option) any later version.
 * 
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library.
 */

#include "sr_ronex_drivers/cod_decod/cod_decod.hpp"

namespace sr_cod_decod
{
  CodDecod::CodDecod()
  {
  }

  void CodDecod::construct(hardware_interface::HardwareInterface *hw, EtherCAT_SlaveHandler *sh, int n_digital_outputs, int n_analog_outputs, int n_digital_inputs, int n_analog_inputs, int n_PWM_outputs)
  {
    sh_ = sh;
    hw_ = static_cast<ros_ethercat_model::RobotState*>(hw);
  }


  void CodDecod::update(unsigned char *status_buffer)
  {
  }

  void CodDecod::build_command(unsigned char *command_buffer)
  {
  }

  void CodDecod::add_diagnostics(std::vector<diagnostic_msgs::DiagnosticStatus> &vec,
                                 diagnostic_updater::DiagnosticStatusWrapper &d)
  {
  }
}