1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
|
# interrogate_service.py - Interrogate a service on the network to get information about it
# and the object members it contains.
# This example demonstrates finding all available nodes on the network using the special
# "Service Index" node that all Robot Raconteur nodes provide. It then reads the service definition
# of one of the services and prints out information about the object members it contains.
from RobotRaconteur.Client import *
import time
# Root object type of the special service index service
# See https://github.com/robotraconteur/robotraconteur/blob/master/RobotRaconteurCore/src/RobotRaconteurServiceIndex.robdef
service_type = "RobotRaconteurServiceIndex.ServiceIndex"
# Transports to search, in this case TCP and local
transports = ["rr+tcp", "rr+local"]
# After initializing the node, wait a few seconds for discovery to initialize
time.sleep(6)
detected_services = []
ret = RRN.FindServiceByType(service_type, transports)
for s in ret:
c = RRN.ConnectService(s.ConnectionURL)
c_detected_services = c.GetLocalNodeServices()
detected_services.extend(list(c_detected_services.values()))
RRN.DisconnectService(c)
print(detected_services)
# Find a service that implements the "experimental.reynard_the_robot.Reynard" type
reynard_service_info = None
for s in detected_services:
if s.RootObjectType == "experimental.reynard_the_robot.Reynard":
reynard_service_info = s
break
if reynard_service_info is None:
print("Reynard service not found")
exit(1)
print(reynard_service_info)
# Connect to the service
c_reynard = RRN.ConnectService(list(reynard_service_info.ConnectionURL.values()))
# Get the root object type
object_type = RRN.GetObjectType(c_reynard)
from RobotRaconteur.RobotRaconteurPythonUtil import SplitQualifiedName
# Split the qualified type into service type and object type name
service_type, object_type_name = SplitQualifiedName(object_type)
print("Service type: " + service_type)
print("Object type name: " + object_type_name)
# Get the service definition pulled from the service
service_def = RRN.GetPulledServiceType(c_reynard, service_type)
print()
print(service_def.ToString())
root_object_def = None
# Find the root object in the service definition
for o in service_def.Objects:
if o.Name == object_type_name:
root_object_def = o
break
if root_object_def is None:
print("Root object definition not found")
exit(1)
# All members can now be interrogated. Let's look at the functions
for i in range(len(root_object_def.Members)):
member = root_object_def.Members[i]
if (isinstance(member, RR.FunctionDefinition)):
f = member
print("Function: " + f.Name)
print(" Return type: " + f.ReturnType.ToString())
print(" Parameters:")
for p in f.Parameters:
print(" " + p.ToString())
print()
# Dynamically call a function
say_func = getattr(c_reynard, "say")
say_params = ["Hello from interrogate_service!"]
say_func(*say_params)
# See https://github.com/robotraconteur/robotraconteur/blob/master/RobotRaconteurCore/include/RobotRaconteur/ServiceDefinition.h
# for more information on service definitions and object members
# See https://github.com/robotraconteur/robotraconteur/blob/5c1705259ae5807457d28a85299c4e0e2c8e7610/RobotRaconteurPython/RobotRaconteurPythonUtil.py#L219:L420
# for an advanced example using interrogation to create a dynamic proxy object
|
