.. _program_listing_file_src_adi_iio.cpp:

Program Listing for File adi_iio.cpp
====================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_adi_iio.cpp>` (``src/adi_iio.cpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: 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;
   }