`adi_iio_node`: service call reference

Prerequisites:

The command below launches the adi_iio_node executable from the adi_iio package. The uri parameter is used to describe the context location of the IIO device.

URI=ip:192.168.2.1
ros2 run adi_iio adi_iio_node \
    --ros-args \
    -p uri:=$URI \
    --log-level debug

From a new terminal you can view the names of all the running nodes:

ros2 node list

The terminal should return the node name, which indicates it is running.

/adi_iio_node

Warning

The adi_iio_node executable must be running in order to use the services described below.

Overview:

Inspect node information:

ros2 node info /adi_iio_node

You should see a list like this:

/adi_iio_node
    Subscribers:
        /parameter_events: rcl_interfaces/msg/ParameterEvent
    Publishers:
        /parameter_events: rcl_interfaces/msg/ParameterEvent
        /rosout: rcl_interfaces/msg/Log
    Service Servers:
        /adi_iio_node/AttrDisableTopic: adi_iio/srv/AttrDisableTopic
        /adi_iio_node/AttrEnableTopic: adi_iio/srv/AttrEnableTopic
        /adi_iio_node/AttrReadString: adi_iio/srv/AttrReadString
        /adi_iio_node/AttrWriteString: adi_iio/srv/AttrWriteString
        /adi_iio_node/BufferCreate: adi_iio/srv/BufferCreate
        /adi_iio_node/BufferDestroy: adi_iio/srv/BufferDestroy
        /adi_iio_node/BufferDisableTopic: adi_iio/srv/BufferDisableTopic
        /adi_iio_node/BufferEnableTopic: adi_iio/srv/BufferEnableTopic
        /adi_iio_node/BufferRead: adi_iio/srv/BufferRead
        /adi_iio_node/BufferRefill: adi_iio/srv/BufferRefill
        /adi_iio_node/BufferWrite: adi_iio/srv/BufferWrite
        /adi_iio_node/ListAttributes: adi_iio/srv/ListAttributes
        /adi_iio_node/ListChannels: adi_iio/srv/ListChannels
        /adi_iio_node/ListDevices: adi_iio/srv/ListDevices
        /adi_iio_node/ScanContext: adi_iio/srv/ScanContext
        /adi_iio_node/describe_parameters: rcl_interfaces/srv/DescribeParameters
        /adi_iio_node/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
        /adi_iio_node/get_parameters: rcl_interfaces/srv/GetParameters
        /adi_iio_node/list_parameters: rcl_interfaces/srv/ListParameters
        /adi_iio_node/set_parameters: rcl_interfaces/srv/SetParameters
        /adi_iio_node/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
    Service Clients:

    Action Servers:

    Action Clients:

Inspect exposed services:

Running the command ros2 service list --show-types should return a list containing only the services currently available in the system along with their associated types:

/adi_iio_node/AttrDisableTopic [adi_iio/srv/AttrDisableTopic]
/adi_iio_node/AttrEnableTopic [adi_iio/srv/AttrEnableTopic]
/adi_iio_node/AttrReadString [adi_iio/srv/AttrReadString]
/adi_iio_node/AttrWriteString [adi_iio/srv/AttrWriteString]
/adi_iio_node/BufferCreate [adi_iio/srv/BufferCreate]
/adi_iio_node/BufferDestroy [adi_iio/srv/BufferDestroy]
/adi_iio_node/BufferDisableTopic [adi_iio/srv/BufferDisableTopic]
/adi_iio_node/BufferEnableTopic [adi_iio/srv/BufferEnableTopic]
/adi_iio_node/BufferRead [adi_iio/srv/BufferRead]
/adi_iio_node/BufferRefill [adi_iio/srv/BufferRefill]
/adi_iio_node/BufferWrite [adi_iio/srv/BufferWrite]
/adi_iio_node/ListAttributes [adi_iio/srv/ListAttributes]
...

You can inspect the interface of each service in order to find the request (above) and response (below) parameters. For example:

ros2 interface show adi_iio/srv/AttrWriteString

Which will return the interface of the service:

string attr_path
string value
---
bool success
string message

Service Call Reference:

ScanContext

For complete details about the request and response format of this service, please refer to the ScanContext service documentation.

Usage:

ros2 service call /adi_iio_node/ScanContext adi_iio/srv/ScanContext

The output should look like this:

requester: making request: adi_iio.srv.ScanContext_Request()

response:
adi_iio.srv.ScanContext_Response(success=True, message='Found: Context attributes: 16; Devices: 14; Channels: 98; Device attributes: 54; Channel attributes: 372; ', devices=['xadc', 'ad5625', 'm2k-fabric', 'm2k-adc-trigger', 'ad9963', 'm2k-adc', 'ad5627', 'pll', 'm2k-dds', 'm2k-dac-a', 'm2k-dac-b', 'm2k-logic-analyzer', 'm2k-logic-analyzer-tx', 'm2k-logic-analyzer-rx'], channels=['xadc/input_voltage5', 'xadc/input_voltage0', 'xadc/input_voltage4', 'xadc/input_temp0', ....)

The response fields contain lists of IIO Path values.

ListDevices

For complete details about the request and response format of this service, please refer to the ListDevices service documentation.

Usage:

ros2 service call /adi_iio_node/ListDevices adi_iio/srv/ListDevices

The output should look like this:

requester: making request: adi_iio.srv.ListDevices_Request()

response:
adi_iio.srv.ListDevices_Response(success=True, message='Found 14 devices', data=['xadc', 'ad5625', 'm2k-fabric', 'm2k-adc-trigger', 'ad9963', 'm2k-adc', 'ad5627', 'pll', 'm2k-dds', 'm2k-dac-a', 'm2k-dac-b', 'm2k-logic-analyzer', 'm2k-logic-analyzer-tx', 'm2k-logic-analyzer-rx'])

The data field from the response contains a list of device_paths as described in the Device Path (device_path) section.

ListChannels

For complete details about the request and response format of this service, please refer to the ListChannels service documentation.

Usage:

The request interface for this service requires the user to specify the iio_path using a valid Device Path (device_path) value.

ros2 service call /adi_iio_node/ListChannels adi_iio/srv/ListChannels "{
    iio_path: 'm2k-adc'
}"

The output should look like this:

requester: making request: adi_iio.srv.ListChannels_Request(iio_path='m2k-adc')

response:
adi_iio.srv.ListChannels_Response(success=True, message='Found 2 channels in device: m2k-adc', data=['m2k-adc/input_voltage0', 'm2k-adc/input_voltage1'])

The data field from the response contains a list of channel_paths as described in the Channel Path (channel_path) section.

ListAttributes

For complete details about the request and response format of this service, please refer to the ListAttributes service documentation.

Usage:

The request interface for this service requires the user to specify the iio_path using a valid Context Path, Device Path (device_path), or :ref:Channel Path value.

Context Path attributes:

ros2 service call /adi_iio_node/ListAttributes adi_iio/srv/ListAttributes "{
    iio_path: ''
}"

The output should look like this:

requester: making request: adi_iio.srv.ListAttributes_Request(iio_path='')

response:
adi_iio.srv.ListAttributes_Response(success=True, message='Found 16 attributes', data=['hw_model', 'hw_model_variant', 'hw_serial', 'fw_version', 'cal,offset_pos_dac', 'cal,gain_pos_dac', 'cal,offset_pos_adc', 'cal,gain_pos_adc', 'cal,offset_neg_dac', 'cal,gain_neg_dac', 'cal,offset_neg_adc', 'cal,gain_neg_adc', 'cal,temp_lut', 'local,kernel', 'uri', 'ip,ip-addr'])

The data field from the response contains a list of attr_path to context attributes as described in the Context Attribute Path (attr_path) section.

Device Path attributes:

ros2 service call /adi_iio_node/ListAttributes adi_iio/srv/ListAttributes "{
    iio_path: 'm2k-dac-a'
}"

The output should look like this:

requester: making request: adi_iio.srv.ListAttributes_Request(iio_path='m2k-dac-a')

response:
adi_iio.srv.ListAttributes_Response(success=True, message='Found 11 attributes in device: m2k-dac-a', data=['m2k-dac-a/auto_rearm_trigger', 'm2k-dac-a/calibscale', 'm2k-dac-a/dma_sync', 'm2k-dac-a/dma_sync_start', 'm2k-dac-a/oversampling_ratio', 'm2k-dac-a/sampling_frequency', 'm2k-dac-a/sampling_frequency_available', 'm2k-dac-a/trigger_condition', 'm2k-dac-a/trigger_condition_available', 'm2k-dac-a/trigger_src', 'm2k-dac-a/trigger_src_available'])

The data field from the response contains a list of attr_path to device attributes as described in the Device Attribute Path (attr_path) section.

Channel Path attributes:

ros2 service call /adi_iio_node/ListAttributes adi_iio/srv/ListAttributes "{
    iio_path: 'm2k-dac-a/output_voltage0'
}"

The output should look like this:

requester: making request: adi_iio.srv.ListAttributes_Request(iio_path='m2k-dac-a/output_voltage0')

response:
adi_iio.srv.ListAttributes_Response(success=True, message='Found 5 attributes in channel: output_voltage0', data=['m2k-dac-a/output_voltage0/raw', 'm2k-dac-a/output_voltage0/raw_enable', 'm2k-dac-a/output_voltage0/raw_enable_available', 'm2k-dac-a/output_voltage0/trigger_status', 'm2k-dac-a/output_voltage0/trigger_status_available'])

The data field from the response contains a list of attr_path to channel attributes as described in the Channel Attribute Path (attr_path) section.

AttrEnableTopic

For complete details about the request and response format of this service, please refer to the AttrEnableTopic service documentation.

Usage:

ros2 service call /adi_iio_node/AttrEnableTopic adi_iio/srv/AttrEnableTopic "{
    attr_path: xadc/input_temp0/raw
}"

The output should look like this:

requester: making request: adi_iio.srv.AttrEnableTopic_Request(attr_path='xadc/input_temp0/raw', topic_name='', loop_rate=1, type=0)

response:
adi_iio.srv.AttrEnableTopic_Response(success=True, message='Success')

Note

Running the command ros2 topic list should show the new topics created: /xadc/input_temp0/raw/read and /xadc/input_temp0/raw/write. Since this example uses an input channel, we can monitor the topic using the command ros2 topic echo /xadc/input_temp0/raw/read.

Note

Control the data type of the topic:

ros2 service call /adi_iio_node/AttrEnableTopic adi_iio/srv/AttrEnableTopic "{
    attr_path: xadc/input_temp0/raw,
    type: 1
}"

Control the loop rate of the topic:

ros2 service call /adi_iio_node/AttrEnableTopic adi_iio/srv/AttrEnableTopic "{
    attr_path: xadc/input_temp0/raw,
    loop_rate: 10
}"

AttrDisableTopic

For complete details about the request and response format of this service, please refer to the AttrDisableTopic service documentation.

Usage:

ros2 service call /adi_iio_node/AttrDisableTopic adi_iio/srv/AttrDisableTopic "{
    topic_name: xadc/input_temp0/raw
}"

The output should look like this:

requester: making request: adi_iio.srv.AttrDisableTopic_Request(topic_name='xadc/input_temp0/raw', type=0)

response:
adi_iio.srv.AttrDisableTopic_Response(success=True, message='Success')

AttrReadString

For complete details about the request and response format of this service, please refer to the AttrReadString service documentation.

Usage:

ros2 service call /adi_iio_node/AttrReadString adi_iio/srv/AttrReadString "{
    attr_path:  xadc/input_temp0/raw
}"

The output should look like this:

requester: making request: adi_iio.srv.AttrReadString_Request(attr_path='xadc/input_temp0/raw')

response:
adi_iio.srv.AttrReadString_Response(success=True, message='2690')

AttrWriteString

For complete details about the request and response format of this service, please refer to the AttrWriteString service documentation.

Usage:

ros2 service call /adi_iio_node/AttrWriteString adi_iio/srv/AttrWriteString "{
    attr_path: m2k-dac-a/voltage0/raw,
    value: 123
}"

The output should look like this:

requester: making request: adi_iio.srv.AttrWriteString_Request(attr_path='m2k-dac-a/voltage0/raw', value='123')

response:
adi_iio.srv.AttrWriteString_Response(success=True, message='123')

BufferCreate

For complete details about the request and response format of this service, please refer to the BufferCreate service documentation.

Usage:

# Device has 2 inpus channels
ros2 service call /adi_iio_node/BufferCreate adi_iio/srv/BufferCreate "{
    device_path: 'm2k-adc',
    channels: ['voltage0', 'voltage1'],
    samples_count: 8,
}"

# Alternatively, you can explicitly specify the channel direction
ros2 service call /adi_iio_node/BufferCreate adi_iio/srv/BufferCreate "{
    device_path: 'm2k-adc',
    channels: ['input_voltage0', 'input_voltage1'],
    samples_count: 8,
}"

The output should look like this:

requester: making request: adi_iio.srv.BufferCreate_Request(device_path='m2k-adc', channels=['voltage0', 'voltage1'], samples_count=8)

response:
adi_iio.srv.BufferCreate_Response(success=True, message='Success', layout=std_msgs.msg.MultiArrayLayout(dim=[std_msgs.msg.MultiArrayDimension(label='samples', size=8, stride=16), std_msgs.msg.MultiArrayDimension(label='channels', size=2, stride=2)], data_offset=0))

BufferDestroy

For complete details about the request and response format of this service, please refer to the BufferDestroy service documentation.

Usage:

ros2 service call /adi_iio_node/BufferDestroy adi_iio/srv/BufferDestroy "{
    device_path: 'm2k-adc'
}"

The output should look like this:

requester: making request: adi_iio.srv.BufferDestroy_Request(device_path='m2k-adc')

response:
adi_iio.srv.BufferDestroy_Response(success=True, message='Success')

BufferDisableTopic

For complete details about the request and response format of this service, please refer to the BufferDisableTopic service documentation.

Usage:

ros2 service call /adi_iio_node/BufferDisableTopic adi_iio/srv/BufferDisableTopic "{
    device_path: 'm2k-adc',
}"

The output should look like this:

requester: making request: adi_iio.srv.BufferDisableTopic_Request(device_path='m2k-adc')

response:
adi_iio.srv.BufferDisableTopic_Response(success=True, message='Success')

BufferEnableTopic

For complete details about the request and response format of this service, please refer to the BufferEnableTopic service documentation.

Usage:

ros2 service call /adi_iio_node/BufferEnableTopic adi_iio/srv/BufferEnableTopic "{
    device_path: 'm2k-adc',
    topic_name: 'm2k-adc'
}"

The output should look like this:

requester: making request: adi_iio.srv.BufferEnableTopic_Request(device_path='m2k-adc', topic_name='m2k-adc')

response:
adi_iio.srv.BufferEnableTopic_Response(success=True, message='Success')

Note

The BufferEnableTopic service is used to stream the buffer data to a topic. For this, you need to create a buffer using the BufferCreate service first.

BufferRead

For complete details about the request and response format of this service, please refer to the BufferRead service documentation.

Usage:

ros2 service call /adi_iio_node/BufferRead adi_iio/srv/BufferRead "{
    device_path: 'm2k-adc',
    channels: ['voltage0', 'voltage1'],
    samples_count: 8
}"

The output should look like this:

requester: making request: adi_iio.srv.BufferRead_Request(device_path='m2k-adc', channels=['voltage0', 'voltage1'], samples_count=8)

response:
adi_iio.srv.BufferRead_Response(success=True, message='Success', buffer=std_msgs.msg.Int32MultiArray(layout=std_msgs.msg.MultiArrayLayout(dim=[std_msgs.msg.MultiArrayDimension(label='samples', size=8, stride=16), std_msgs.msg.MultiArrayDimension(label='channels', size=2, stride=2)], data_offset=0), data=[61, -65, 60, -65, 61, -65, 60, -65, 61, -64, 62, -64, 61, -66, 60, -66]))

BufferRefill

For complete details about the request and response format of this service, please refer to the BufferRefill service documentation.

Usage:

ros2 service call /adi_iio_node/BufferRefill adi_iio/srv/BufferRefill "{
    device_path: 'm2k-adc'
}"

The output should look like this:

requester: making request: adi_iio.srv.BufferRefill_Request(device_path='m2k-adc')

response:
adi_iio.srv.BufferRefill_Response(success=True, message='Success', buffer=std_msgs.msg.Int32MultiArray(layout=std_msgs.msg.MultiArrayLayout(dim=[std_msgs.msg.MultiArrayDimension(label='samples', size=8, stride=16), std_msgs.msg.MultiArrayDimension(label='channels', size=2, stride=2)], data_offset=0), data=[61, -65, 61, -64, 62, -66, 62, -66, 62, -65, 60, -65, 60, -65, 61, -63]))

Note

The BufferRefill service is used to refill the buffer with new data. For this, you need to create a buffer using the BufferCreate service first.

BufferWrite

For complete details about the request and response format of this service, please refer to the BufferWrite service documentation.

Usage:

ros2 service call /adi_iio_node/BufferWrite adi_iio/srv/BufferWrite "{
    device_path: m2k-dac-a,
    channels: ['voltage0'],
    cyclic: 0,
    buffer: {
        layout: {
            dim: [
                {
                label: "samples",
                size: 4,
                stride: 4
                },
                {
                    label: "channels",
                    size: 1,
                    stride: 1
                }
            ],
            data_offset: 0
        },
        data: [ 12345, 12345, 12345, 12345 ]
    }
}"

The output should look like this:

requester: making request: adi_iio.srv.BufferWrite_Request(device_path='m2k-dac-a', channels=['voltage0'], buffer=std_msgs.msg.Int32MultiArray(layout=std_msgs.msg.MultiArrayLayout(dim=[std_msgs.msg.MultiArrayDimension(label='samples', size=4, stride=4), std_msgs.msg.MultiArrayDimension(label='channels', size=1, stride=1)], data_offset=0), data=[12345, 12345, 12345, 12345]), cyclic=False)

response:
adi_iio.srv.BufferWrite_Response(success=True, message='Success')

adi_iio_node: service call reference

Prerequisites:

Overview:

Service Call Reference:

ScanContext

ListDevices

ListChannels

ListAttributes

AttrEnableTopic

AttrDisableTopic

AttrReadString

AttrWriteString

BufferCreate

BufferDestroy

BufferDisableTopic

BufferEnableTopic

BufferRead

BufferRefill

BufferWrite

`adi_iio_node`: service call reference