Program Listing for File adi_iio.cpp

↰ Return to documentation for file (src/adi_iio.cpp)

// 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.

#include <rclcpp/rclcpp.hpp>
#include "adi_iio/srv/attr_read_string.hpp"
#include "adi_iio/srv/attr_write_string.hpp"
#include "adi_iio/iio_node.hpp"

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  std::shared_ptr<IIONode> node = std::make_shared<IIONode>();

  if (!node->initialized()) {
    RCLCPP_FATAL(rclcpp::get_logger("rclcpp"), "Node initialization failed.");
    return EXIT_FAILURE;     // Fail if the node isn't properly initialized
  }

  node->initBuffers();

  rclcpp::Service<adi_iio::srv::AttrReadString>::SharedPtr attrReadSrv =
    node->create_service<adi_iio::srv::AttrReadString>(
    std::string(node->get_name()) + "/AttrReadString",
    std::bind(&IIONode::attrReadSrv, node, std::placeholders::_1, std::placeholders::_2));

  rclcpp::Service<adi_iio::srv::AttrWriteString>::SharedPtr attrWriteSrv =
    node->create_service<adi_iio::srv::AttrWriteString>(
    std::string(node->get_name()) + "/AttrWriteString",
    std::bind(&IIONode::attrWriteSrv, node, std::placeholders::_1, std::placeholders::_2));

  rclcpp::Service<adi_iio::srv::AttrEnableTopic>::SharedPtr attrEnableTopicSrv =
    node->create_service<adi_iio::srv::AttrEnableTopic>(
    std::string(node->get_name()) + "/AttrEnableTopic",
    std::bind(&IIONode::attrEnableTopicSrv, node, std::placeholders::_1, std::placeholders::_2));

  rclcpp::Service<adi_iio::srv::AttrDisableTopic>::SharedPtr attrDisableTopicSrv =
    node->create_service<adi_iio::srv::AttrDisableTopic>(
    std::string(node->get_name()) + "/AttrDisableTopic",
    std::bind(&IIONode::attrDisableTopicSrv, node, std::placeholders::_1, std::placeholders::_2));

  rclcpp::Service<adi_iio::srv::BufferRead>::SharedPtr buffReadSrv =
    node->create_service<adi_iio::srv::BufferRead>(
    std::string(node->get_name()) + "/BufferRead",
    std::bind(&IIONode::buffReadSrv, node, std::placeholders::_1, std::placeholders::_2));

  rclcpp::Service<adi_iio::srv::BufferWrite>::SharedPtr buffWriteSrv =
    node->create_service<adi_iio::srv::BufferWrite>(
    std::string(node->get_name()) + "/BufferWrite",
    std::bind(&IIONode::buffWriteSrv, node, std::placeholders::_1, std::placeholders::_2));

  rclcpp::Service<adi_iio::srv::BufferCreate>::SharedPtr buffCreateSrv =
    node->create_service<adi_iio::srv::BufferCreate>(
    std::string(node->get_name()) + "/BufferCreate",
    std::bind(&IIONode::buffCreateSrv, node, std::placeholders::_1, std::placeholders::_2));

  rclcpp::Service<adi_iio::srv::BufferDestroy>::SharedPtr buffDestroySrv =
    node->create_service<adi_iio::srv::BufferDestroy>(
    std::string(node->get_name()) + "/BufferDestroy",
    std::bind(&IIONode::buffDestroySrv, node, std::placeholders::_1, std::placeholders::_2));

  rclcpp::Service<adi_iio::srv::BufferRefill>::SharedPtr buffRefillSrv =
    node->create_service<adi_iio::srv::BufferRefill>(
    std::string(node->get_name()) + "/BufferRefill",
    std::bind(&IIONode::buffRefillSrv, node, std::placeholders::_1, std::placeholders::_2));

  rclcpp::Service<adi_iio::srv::BufferEnableTopic>::SharedPtr buffEnableTopicSrv =
    node->create_service<adi_iio::srv::BufferEnableTopic>(
    std::string(node->get_name()) + "/BufferEnableTopic",
    std::bind(&IIONode::buffEnableTopicSrv, node, std::placeholders::_1, std::placeholders::_2));

  rclcpp::Service<adi_iio::srv::BufferDisableTopic>::SharedPtr buffDisableTopicSrv =
    node->create_service<adi_iio::srv::BufferDisableTopic>(
    std::string(node->get_name()) + "/BufferDisableTopic",
    std::bind(&IIONode::buffDisableTopicSrv, node, std::placeholders::_1, std::placeholders::_2));

  RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "IIO Node");

  rclcpp::spin(node);
  rclcpp::shutdown();
  return 0;
}