Program Listing for File iio_node.hpp

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// Copyright 2025 Analog Devices, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef ADI_IIO__IIO_NODE_HPP_
#define ADI_IIO__IIO_NODE_HPP_

#include <iio.h>

#include <chrono>
#include <functional>
#include <map>
#include <memory>
#include <string>

#include <rclcpp/rclcpp.hpp>

#include "adi_iio/srv/attr_read_string.hpp"
#include "adi_iio/srv/attr_write_string.hpp"
#include "adi_iio/srv/attr_enable_topic.hpp"
#include "adi_iio/srv/attr_disable_topic.hpp"
#include "adi_iio/srv/buffer_create.hpp"
#include "adi_iio/srv/buffer_destroy.hpp"
#include "adi_iio/srv/buffer_refill.hpp"
#include "adi_iio/srv/buffer_read.hpp"
#include "adi_iio/srv/buffer_write.hpp"
#include "adi_iio/srv/buffer_enable_topic.hpp"
#include "adi_iio/srv/buffer_disable_topic.hpp"

class IIOAttrTopic;
class IIOBuffer;

class IIONode : public rclcpp::Node
{
public:
  IIONode();
  virtual ~IIONode();

  void initBuffers();

  bool rwAttrPath(
    std::string path, std::string & result, bool write = false,
    std::string value = "");
  std::string convertAttrPathToTopicName(std::string path);

  // service handlers
  void attrReadSrv(
    const std::shared_ptr<adi_iio::srv::AttrReadString::Request> request,
    std::shared_ptr<adi_iio::srv::AttrReadString::Response> response);

  void attrWriteSrv(
    const std::shared_ptr<adi_iio::srv::AttrWriteString::Request> request,
    std::shared_ptr<adi_iio::srv::AttrWriteString::Response> response);

  void attrEnableTopicSrv(
    const std::shared_ptr<adi_iio::srv::AttrEnableTopic::Request> request,
    std::shared_ptr<adi_iio::srv::AttrEnableTopic::Response> response);

  void attrDisableTopicSrv(
    const std::shared_ptr<adi_iio::srv::AttrDisableTopic::Request> request,
    std::shared_ptr<adi_iio::srv::AttrDisableTopic::Response> response);

  void buffRefillSrv(
    const std::shared_ptr<adi_iio::srv::BufferRefill::Request> request,
    std::shared_ptr<adi_iio::srv::BufferRefill::Response> response);

  void buffReadSrv(
    const std::shared_ptr<adi_iio::srv::BufferRead::Request> request,
    std::shared_ptr<adi_iio::srv::BufferRead::Response> response);

  void buffWriteSrv(
    const std::shared_ptr<adi_iio::srv::BufferWrite::Request> request,
    std::shared_ptr<adi_iio::srv::BufferWrite::Response> response);

  void buffCreateSrv(
    const std::shared_ptr<adi_iio::srv::BufferCreate::Request> request,
    std::shared_ptr<adi_iio::srv::BufferCreate::Response> response);

  void buffDestroySrv(
    const std::shared_ptr<adi_iio::srv::BufferDestroy::Request> request,
    std::shared_ptr<adi_iio::srv::BufferDestroy::Response> response);

  void buffEnableTopicSrv(
    const std::shared_ptr<adi_iio::srv::BufferEnableTopic::Request> request,
    std::shared_ptr<adi_iio::srv::BufferEnableTopic::Response> response);

  void buffDisableTopicSrv(
    const std::shared_ptr<adi_iio::srv::BufferDisableTopic::Request> request,
    std::shared_ptr<adi_iio::srv::BufferDisableTopic::Response> response);
  // getters
  std::string uri();
  bool initialized();
  iio_context * ctx();

private:
  bool m_initialized;
  std::string m_uri;
  iio_context * m_ctx;

  std::map<std::string, std::shared_ptr<IIOAttrTopic>> m_attrTopicMap;
  std::map<std::string, std::shared_ptr<IIOBuffer>> m_bufferMap;
};

#endif  // ADI_IIO__IIO_NODE_HPP_