Advantech Robotic Suite/SUSI Node

From ESS-WIKI
Jump to: navigation, search

Brief

Advantech has created SUSI APIs to simplify application development and offer exclusive services with Advantech’s embedded platforms. SUSI APIs make it easier for customers to program and configure features while integrating solutions.

 

susi_node_1tHysoY.png

 

SUSI node get Advantech hardware data ( includes Intel x86, RISC NXP and Nvidia Jetson ) through SUSI API, the data will be converter to ROS DDS data format and be published by pre-defined topic "/adv/susicontrol", client node can subscribe the topic to receive hardware data that SUSI node published. SUSI node also support set command to change writable sensor through ROS service, ROS developer can easy to set and control platform info with SUSI Node.

susi_node_KYBvx2W.png

 

 

SUSI Data Category:

Category Sensor Description Data Type
/Platform Information /Spec version SUSI API Specification Version string
  /Boot up times Boot counter integer
  /Running time (hours) Running time (hours) from power on integer
  /BIOS revision BIOS version string
  /Board manufacturer Board manufacturer string
  /Board name Board name string
  /Board serial number Board serial number string
  /Driver version SUSI driver version string
  /Library version SUSI library version string
  /Microsoft Plug-and-Play ID Microsoft Plug-and-Play ID string
/Hardware Monitor /Voltage/Vcore CPU core voltage float
  /Voltage/3.3V CPU 3.3V voltage float
  /Voltage/5V CPU 5V voltage float
  /Voltage/12V CPU 12V voltage float
  /Voltage/5V Standby CPU 5V voltage float
  /Voltage/CMOS Battery CMOS Battery voltage float
  /Voltage/VCC3 VCC3 voltage float
  /Current/OEM0 OEM0 current float
  /Fan Speed/CPU CPU Fan speed integer
  /Fan Speed/System System Fan Speed integer
  /Fan Speed/System2 System2 Fan Speed integer
  /Temperature/CPU CPU Temperature float
  /Temperature/System System Temperature float
/GPIO /GPIO/GPIO(n)/Level Digital I/O control (n) Level boolean
  /GPIO/GPIO(n)/Dir Digital I/O control (n) Direction boolean
/Backlight /Backlight (n)/Brightness LVDS screen backlight brightness control integer
  /Backlight (n)/Frequency LVDS screen backlight Frequency control integer
  /Backlight (n)/Polarity LVDS screen backlight Polarity control boolean
/DiskInfo /Disk (n) Total Disk Space Disk (partition) Total Disk Space integer
  /Disk (n) Free Disk Space Disk (partition) Total Disk Space integer
/SUSIIoT Information /version SUSIIoT version information string



Topic definition

The topic of SUSIControl node is defined as below:

/adv/susicontrol

 

Message definition

The messages definition of SUSI node is defined in below link:

http://ess-wiki.advantech.com.tw/view/Advantech_Robotic_Suite/Advantech_ROS2_Data_Format

 

Message update

The message is updated periodically in 10 seconds, you can use ROS2 utility to verify the data update:

Subscribe Sensor using ROS2 utility

Step1. Setup ROS2 environmant variables:

$ source /opt/ros/${ROS_DISTRO}/setup.bash

Step2. Setup SUSI Node message:

$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash

Step3. List all topics:

$ ros2 topic list

output:

/adv/parameter_events
/adv/susicontrol
/parameter_events
/rosout

 

Step4. Subscribe node data

$ ros2 topic echo /adv/susicontrol

output:

sensor: SUSIControl/DiskInfo/Disk C Total Disk Space
type: v
bv: false
v: 60039.0
sv: ''
ts: 1677659397728
---
sensor: SUSIControl/Platform Information/BIOS revision
type: sv
bv: false
v: 0.0
sv: V1.13
ts: 1677659397728
---
sensor: SUSIControl/Hardware Monitor/Voltage/5V
type: v
bv: false
v: 5.216
sv: ''
ts: 1677659397728
---
sensor: SUSIControl/Hardware Monitor/Fan Speed/CPU
type: v
bv: false
v: 0.0
sv: ''
ts: 1677659397728
---
sensor: SUSIControl/GPIO/GPIO00/Dir
type: bv
bv: true
v: 0.0
sv: ''
ts: 1677659397728
---
sensor: SUSIControl/GPIO/GPIO01/Dir
type: bv
bv: true
v: 0.0
sv: ''
ts: 1677659397728
---
sensor: SUSIControl/GPIO/GPIO06/Level
type: bv
bv: true
v: 0.0
sv: ''
ts: 1677659397728
---
sensor: SUSIControl/GPIO/GPIO07/Dir
type: bv
bv: true
v: 0.0
sv: ''
ts: 1677659397728
---
sensor: SUSIControl/GPIO/GPIO07/Level
type: bv
bv: true
v: 0.0
sv: ''
ts: 1677659397728
---
sensor: SUSIControl/Backlight/Backlight 1/Brightness
type: v
bv: false
v: 255.0
sv: ''
ts: 1677659397728
---
sensor: SUSIControl/Backlight/Backlight 1/Frequency
type: v
bv: false
v: 18780.0
sv: ''
ts: 1677659397728
---
sensor: SUSIControl/Backlight/Backlight 1/Polarity
type: bv
bv: false
v: 0.0
sv: ''
ts: 1677659397728
---

 

Sample Client

This session describe how to subscribe SUSIControl node data by SUSIControl node topic.


Node.js

The program rclnodejs_edge_data_client is a node.js example for user to understand how to use rclnodejs to subscribe SUSI node's data. Please follow below steps to run the program, when the program launched, it will subscribe SUSI node's sensor and print the data in the console screen.

Subscribe Sensor

Step1. Setup ROS2 environmant variables, replace ${ROS_DISTRO} with your ROS2 distribution (foxy, humble) to run this command:

$ source /opt/ros/${ROS_DISTRO}/setup.bash

Step2. Setup SUSI Node message:

$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash

Step3. Go to node.js SUSIControl node sample client path:

$ cd /usr/local/Advantech/ros/${ROS_DISTRO}/sample_code/edge-data-client/rclnodejs_edge_data_client/

Step4. Run node.js SUSIControl client:

$  node example_SubscribeSensor.js "rclnodejs_SUSIControl_subscriber" "/adv/susicontrol"

Step5. Verify received data:

[INFO] [1666244753.823296758] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/SUSIIoT Information/version, sv = 1.0.14327
[INFO] [1666244753.824233548] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/DiskInfo/Disk C Total Disk Space, v = 60039
[INFO] [1666244753.825679860] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/DiskInfo/Disk C Free Disk Space, v = 2573
[INFO] [1666244753.826547529] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Platform Information/Board manufacturer, sv = Advantech
[INFO] [1666244753.827426338] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Platform Information/Board name, sv = AIMB-285
[INFO] [1666244753.828303175] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Platform Information/BIOS revision, sv = V1.13
[INFO] [1666244753.829165104] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Platform Information/Driver version, sv = 4.0.14326
[INFO] [1666244753.830043506] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Platform Information/Library version, sv = 4.0.14326
[INFO] [1666244753.830895635] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Voltage/Vcore, v = 0.464
[INFO] [1666244753.831752533] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Voltage/3.3V, v = 3.36
[INFO] [1666244753.832659914] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Voltage/5V, v = 5.184
[INFO] [1666244753.833530130] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Voltage/12V, v = 12.021
[INFO] [1666244753.834384115] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Voltage/5V Standby, v = 5.216
[INFO] [1666244753.835268840] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Voltage/CMOS Battery, v = 3.152
[INFO] [1666244753.836147029] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Fan Speed/CPU, v = 0
[INFO] [1666244753.837019121] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Fan Speed/System, v = 2528
[INFO] [1666244753.837897563] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Temperature/CPU, v = 34.7
[INFO] [1666244753.838757469] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO05/Dir, bv = true
[INFO] [1666244753.839612342] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO05/Level, bv = true
[INFO] [1666244753.841073336] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO00/Level, bv = true
[INFO] [1666244753.841963148] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO02/Level, bv = true
[INFO] [1666244753.842830913] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO01/Dir, bv = true
[INFO] [1666244753.843763644] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO03/Dir, bv = true
[INFO] [1666244753.844590639] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO03/Level, bv = true
[INFO] [1666244753.845344403] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO04/Dir, bv = true
[INFO] [1666244753.846105225] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO04/Level, bv = true
[INFO] [1666244753.846631442] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO06/Dir, bv = true
[INFO] [1666244753.847148533] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO06/Level, bv = true
[INFO] [1666244753.847914130] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO07/Dir, bv = true
[INFO] [1666244753.848709254] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO07/Level, bv = true
[INFO] [1666244753.849491291] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Backlight/Backlight 1/Brightness, v = 255
[INFO] [1666244753.850278964] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Backlight/Backlight 1/Frequency, v = 18780
[INFO] [1666244753.851031430] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Backlight/Backlight 1/Polarity, bv = false


 

Set sensor

This session describe how to set SUSI node data by set action. To run the set sensor sample, your device need have writable sensor supported for SUSI driver.

Step1. Setup ROS2 environmant variables, replace ${ROS_DISTRO} with your ROS2 distribution (foxy, humble) to run this command:

$ source /opt/ros/${ROS_DISTRO}/setup.bash

Step2. Setup SUSI Node ROS message:

$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash

Step3. Go to node.js SUSIControl node sample client path:

$ cd /usr/local/Advantech/ros/${ROS_DISTRO}/sample_code/edge-data-client/rclnodejs_edge_data_client/

Step4. Run SUSIControl set sensor sample client:

Command:

node example_SetSensor.js [node name] [action] [sensor] [type] [value]

Example:

$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO00/Dir" "bv" false

Step5. Received data:

[INFO] [1665541698.282173185] [adv.SUSIControl_Client]: Waiting for action server...
[INFO] [1665541698.317823807] [adv.SUSIControl_Client]: Sending goal request...
[INFO] [1665541698.350790289] [adv.SUSIControl_Client]: Received feedback: status = {"status":200,"sensor":"SUSIControl/GPIO/GPIO00/Dir","info":"Success","ts":1665541699007}
[INFO] [1665541698.389403371] [adv.SUSIControl_Client]: Goal accepted
[INFO] [1665541698.849897490] [adv.SUSIControl_Client]: Goal suceeded with result: 202


 

Use Case: EPC-R3720 GPIO Usage

This case is a demonstration to instruct EPC-R3720 GPIO configuration and usage.

- GPIO Pins definition:

Ros2 rsb-3720 gpio pins.jpg

- GPIO Mapping Table:

D-sub pins GPIO number Direction
DO1 GPIO6 0
DO2 GPIO8 0
DO3 GPIO10 0
DO4 GPIO12 0
DI1 GPIO5 1
DI2 GPIO7 1
DI3 GPIO9 1
DI4 GPIO11 1

NOTE: GPIO2 and GPIO4 are not connected to D-sub connector

 

- Hardware Config:

In this demonstraction, we would like to do a loopback test from DO to DI, before start below steps, we need to wire-connect from DO to DI for each:

DO1 (GPIO6)    ---   DI1 (GPIO5)

DO2 (GPIO8)    ---   DI2 (GPIO7)

DO3 (GPIO10)  ---   DI3 (GPIO9)

DO4 (GPIO12)  ---   DI4 (GPIO11)

 

- Steps:

Step1. Setup ROS2 environmant variables, replace ${ROS_DISTRO} with your ROS2 distribution (foxy, humble) to run this command:

$ source /opt/ros/${ROS_DISTRO}/setup.bash

Step2. Setup SUSI Node's ROS message:

$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash

Step3. Go to node.js SUSIControl node sample client path:

$ cd /usr/local/Advantech/ros/${ROS_DISTRO}/sample_code/edge-data-client/rclnodejs_edge_data_client/

Step4. Config GPIO6, GPIO8, GPIO10 and GPIO12 as output pins:

$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO6/Dir" "bv" false
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO8/Dir" "bv" false
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO10/Dir" "bv" false
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO12/Dir" "bv" false

Step5. Config GPIO5, GPIO7, GPIO9 and GPI11 as input pins:

$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO5/Dir" "bv" true
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO7/Dir" "bv" true
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO9/Dir" "bv" true
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO11/Dir" "bv" true

Step6. Set GPIO6, GPIO8, GPIO10 and GPIO12 output Level to 1 (Logical high):

After GPIO6, GPIO8, GPIO10 and GPIO12 are config to output pins, than you can set their Level to true/false by "adv_susicontrol_set" command.

Note: Please do not set value to the pins GPIO5, GPIO7, GPIO9 and GPIO11 because these pins are configured as input pins, set value action is not allow.

$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO6/Level" "bv" true
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO8/Level" "bv" true
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO10/Level" "bv" true
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO12/Level" "bv" true

Step7. Run node.js SUSIControl client:

$  node example_SubscribeSensor.js "rclnodejs_SUSIControl_subscriber" "/adv/susicontrol"

Step8. Verify received data:

You have entered arguments:
node name: rclnodejs_SUSIControl_subscriber
message topic: /adv/susicontrol
----------------------------------------------
Data: sensor = "SUSIControl/GPIO/GPIO5/Dir", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO5/Level", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO6/Dir", v = 0.00
Data: sensor = "SUSIControl/GPIO/GPIO6/Level", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO7/Dir", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO7/Level", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO8/Dir", v = 0.00
Data: sensor = "SUSIControl/GPIO/GPIO8/Level", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO9/Dir", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO9/Level", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO10/Dir", v = 0.00
Data: sensor = "SUSIControl/GPIO/GPIO10/Level", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO11/Dir", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO11/Level", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO12/Dir", v = 0.00
Data: sensor = "SUSIControl/GPIO/GPIO12/Level", v = 1.00




Use Case: MIO-5375 GPIO Usage

This case is a demonstration to instruct MIO-5375 GPIO configuration and usage.

- GPIO Pins definition:

Mio-5375-gpio-connector.png

 

- GPIO cable definition:

 

Mio-5375-gpio-cable.png

 

- GPIO Mapping Table:

D-sub pins GPIO number Direction
DO1 GPIO00 0
DO2 GPIO01 0
DO3 GPIO02 0
DO4 GPIO03 0
DI1 GPIO04 1
DI2 GPIO05 1
DI3 GPIO06 1
DI4 GPIO07 1

 

NOTE: All GPIO direction are configable.

 

- Hardware Config:

In this demonstraction, we would like to do a loopback test from DO to DI, before start below steps, we need to wire-connect from DO to DI for each:

DO1 (GPIO00)    ---    DI1 (GPIO04)

DO2 (GPIO01)    ---    DI2 (GPIO05)

DO3 (GPIO02)    ---    DI3 (GPIO06)

DO4 (GPIO03)    ---    DI4 (GPIO07)

 

- Steps:

Step1. Setup ROS2 environmant variables, replace ${ROS_DISTRO} with your ROS2 distribution (foxy, humble) to run this command:

$ source /opt/ros/${ROS_DISTRO}/setup.bash

Step2. Setup SUSI Node message:

$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash

Step3. Go to node.js SUSIControl node sample client path:

$ cd /usr/local/Advantech/ros/${ROS_DISTRO}/sample_code/edge-data-client/rclnodejs_edge_data_client/

Step4. Config GPIO00, GPIO01, GPIO02 and GPIO03 as output pins:

$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO00/Dir" "bv" false
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO01/Dir" "bv" false
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO02/Dir" "bv" false
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO03/Dir" "bv" false

Step5. Config GPIO04, GPIO05, GPIO06 and GPIO07 as input pins:

$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO04/Dir" "bv" true
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO05/Dir" "bv" true
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO06/Dir" "bv" true
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO07/Dir" "bv" true

Step6. Set GPIO00, GPIO01, GPIO02 and GPIO03 output Level to 1 (Logical high):

After GPIO00, GPIO01, GPIO02 and GPIO03 are config to output pins, than you can set their Level to true (logical high) by "adv_susicontrol_set" command.

Note: Please do not set value to the pins GPIO04, GPIO05, GPIO06 and GPIO07 because these pins are configured as input pins, set value action is not allow.

$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO00/Level" "bv" true
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO01/Level" "bv" true
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO02/Level" "bv" true
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO03/Level" "bv" true

Step7. Run node.js SUSIControl client:

$  node example_SubscribeSensor.js "rclnodejs_SUSIControl_subscriber" "/adv/susicontrol"

Step8. Verify received data:

You have entered arguments:
node name: rclnodejs_SUSIControl_subscriber
message topic: /adv/susicontrol
----------------------------------------------
Data: sensor = "SUSIControl/GPIO/GPIO00/Dir", v = 0.00
Data: sensor = "SUSIControl/GPIO/GPIO00/Level", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO01/Dir", v = 0.00
Data: sensor = "SUSIControl/GPIO/GPIO01/Level", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO02/Dir", v = 0.00
Data: sensor = "SUSIControl/GPIO/GPIO02/Level", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO03/Dir", v = 0.00
Data: sensor = "SUSIControl/GPIO/GPIO03/Level", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO04/Dir", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO04/Level", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO05/Dir", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO05/Level", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO06/Dir", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO06/Level", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO07/Dir", v = 1.00
Data: sensor = "SUSIControl/GPIO/GPIO07/Level", v = 1.00


 

 


 

Python

The program rclpy_edge_data_client is a Python client example for user to understand how to use rclpy to subscribe SUSIControl node's data. Please follow below steps to run the program, when the program launched, it will subscribe OPCUAClient node's sensor and print the data in the console screen.

Steps - Subscribe Sensor

Step1. Setup ROS2 environmant variables, replace ${ROS_DISTRO} with your ROS2 distribution (foxy, humble) to run this command:

$ source /opt/ros/${ROS_DISTRO}/setup.bash

Step2. Setup SUSI Node message:

$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash

Step3. Setup SUSIControl variables:

$ source /usr/local/Advantech/ros/${ROS_DISTRO}/sample_code/edge-data-client/install/local_setup.bash

Step4. Run Python SUSIControl sample client:

$ ros2 run rclpy_edge_data_client listener "rclcpp_SUSIControl_subscriber" "/adv/susicontrol"

Step5. Verify received data:

[INFO] [1668419166.970557368] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Voltage/Vcore", v = 1.13
[INFO] [1668419166.971275797] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Voltage/3.3V", v = 3.36
[INFO] [1668419166.971889153] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Voltage/5V", v = 5.22
[INFO] [1668419166.972484995] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Voltage/12V", v = 12.13
[INFO] [1668419166.973073717] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Voltage/5V Standby", v = 5.22
[INFO] [1668419166.973724029] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Voltage/CMOS Battery", v = 3.15
[INFO] [1668419166.974310688] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Voltage/VCC3", v = 3.34
[INFO] [1668419166.974895174] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Temperature/CPU", v = 43.20
[INFO] [1668419166.975476661] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Temperature/System", v = 36.50
[INFO] [1668419166.976056322] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Fan Speed/CPU", v = 0.00
[INFO] [1668419166.976637793] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Fan Speed/System", v = 2513.00
[INFO] [1668419166.977217676] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Fan Speed/System 2", v = 2410.00
[INFO] [1668419166.977840176] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/DiskInfo/Disk C Total Disk Space", v = 60039.00
[INFO] [1668419166.978420960] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/DiskInfo/Disk C Free Disk Space", v = 1482.00
[INFO] [1668419166.979005895] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Platform Information/Board manufacturer", sv = "Advantech"
[INFO] [1668419166.979585125] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Platform Information/Board name", sv = "AIMB-285"
[INFO] [1668419166.980164289] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Platform Information/BIOS revision", sv = "V1.13"
[INFO] [1668419166.980741273] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Platform Information/Driver version", sv = "4.0.14326"
[INFO] [1668419166.981320076] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Platform Information/Library version", sv = "4.0.14326"
[INFO] [1668419166.981936635] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO00/Dir", bv = False
[INFO] [1668419166.982513742] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO00/Level", bv = False
[INFO] [1668419166.983092131] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO04/Dir", bv = True
[INFO] [1668419166.983668132] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO04/Level", bv = True
[INFO] [1668419166.984246338] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO02/Dir", bv = True
[INFO] [1668419166.984820603] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO02/Level", bv = True
[INFO] [1668419166.985397629] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO01/Dir", bv = True
[INFO] [1668419166.986005697] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO01/Level", bv = True
[INFO] [1668419166.986585734] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO03/Dir", bv = True
[INFO] [1668419166.987160259] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO03/Level", bv = True
[INFO] [1668419166.987738015] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO05/Dir", bv = True
[INFO] [1668419166.988313746] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO05/Level", bv = True
[INFO] [1668419166.988890908] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO06/Dir", bv = True
[INFO] [1668419166.989482096] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO06/Level", bv = True
[INFO] [1668419166.990074224] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO07/Dir", bv = True
[INFO] [1668419166.990648950] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO07/Level", bv = True
[INFO] [1668419166.991224271] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Backlight/Backlight 1/Brightness", v = 255.00
[INFO] [1668419166.991803378] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Backlight/Backlight 1/Frequency", v = 18780.00
[INFO] [1668419166.992393882] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Backlight/Backlight 1/Polarity", bv = False
[INFO] [1668419166.992984235] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/SUSIIoT Information/version", sv = "1.0.14327"


 

C++

The program rclcpp_edge_data_client is a C++ example for user to understand how to use rclcpp to subscribe SUSI node's data. Please follow below steps to run the program, when the program launched, it will subscribe SUSI node's sensor and print the data in the console screen.

Steps - Subscribe Sensor

Step1. Setup ROS2 environmant variables, replace ${ROS_DISTRO} with your ROS2 distribution (foxy, humble) to run this command:

$ source /opt/ros/${ROS_DISTRO}/setup.bash

Step2. Setup SUSI Node message:

$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash

Step3. Setup SUSIControl node variables:

$ source /usr/local/Advantech/ros/${ROS_DISTRO}/sample_code/edge-data-client/install/local_setup.bash

Step4. Run C++ SUSIControl sample client:

$ ros2 run rclcpp_edge_data_client listener "rclcpp_SUSIControl_subscriber" "/adv/susicontrol"

Step5. Verify received data:

[INFO] [1665992194.487803681] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/SUSIIoT Information/version', sv = '1.0.14327'
[INFO] [1665992194.488662535] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/DiskInfo/Disk C Total Disk Space', v = 60039.00
[INFO] [1665992194.489943911] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/DiskInfo/Disk C Free Disk Space', v = 2282.00
[INFO] [1665992194.490802091] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Platform Information/Board manufacturer', sv = 'Advantech'
[INFO] [1665992194.490963569] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Platform Information/Board name', sv = 'AIMB-285'
[INFO] [1665992194.491036637] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Platform Information/BIOS revision', sv = 'V1.13'
[INFO] [1665992194.491086609] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Platform Information/Driver version', sv = '4.0.14326'
[INFO] [1665992194.491176944] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Platform Information/Library version', sv = '4.0.14326'
[INFO] [1665992194.491815332] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Voltage/Vcore', v = 0.29
[INFO] [1665992194.492036608] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Voltage/3.3V', v = 3.36
[INFO] [1665992194.492213936] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Voltage/5V', v = 5.22
[INFO] [1665992194.492377116] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Voltage/12V', v = 12.18
[INFO] [1665992194.492529694] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Voltage/5V Standby', v = 5.22
[INFO] [1665992194.492846390] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Voltage/CMOS Battery', v = 3.15
[INFO] [1665992194.492928825] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Voltage/VCC3', v = 3.34
[INFO] [1665992194.493060224] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Fan Speed/CPU', v = 0.00
[INFO] [1665992194.493217407] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Fan Speed/System', v = 2556.00
[INFO] [1665992194.493377706] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Fan Speed/System 2', v = 2419.00
[INFO] [1665992194.493532012] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Temperature/CPU', v = 35.00
[INFO] [1665992194.493736784] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Temperature/System', v = 32.50
[INFO] [1665992194.493923784] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO05/Dir', bv = true
[INFO] [1665992194.494074865] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO05/Level', bv = true
[INFO] [1665992194.494192822] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO00/Dir', bv = true
[INFO] [1665992194.494377938] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO00/Level', bv = true
[INFO] [1665992194.494536223] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO02/Dir', bv = true
[INFO] [1665992194.494715595] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO02/Level', bv = true
[INFO] [1665992194.494872167] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO01/Dir', bv = true
[INFO] [1665992194.495035704] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO01/Level', bv = true
[INFO] [1665992194.495239010] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO03/Dir', bv = true
[INFO] [1665992194.495405399] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO03/Level', bv = true
[INFO] [1665992194.495561419] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO04/Dir', bv = true
[INFO] [1665992194.495740410] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO04/Level', bv = true
[INFO] [1665992194.495901148] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO06/Dir', bv = true
[INFO] [1665992194.496102220] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO06/Level', bv = true
[INFO] [1665992194.496270253] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO07/Dir', bv = true
[INFO] [1665992194.496458663] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO07/Level', bv = true
[INFO] [1665992194.496639251] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Backlight/Backlight 1/Brightness', v = 255.00
[INFO] [1665992194.496767970] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Backlight/Backlight 1/Frequency', v = 18780.00
[INFO] [1665992194.496951618] [rclcpp_SUSIontrol_subscriber]: Data: sensor = 'SUSIControl/Backlight/Backlight 1/Polarity', bv = false