Tools¶

• Tools
  • Introspection
    • Version, Plugins and Configuration Query
    • Logger
    • RPC Call
  • System-level and Debugging Tools
    • Spread Sniffer

Introspection¶

Version, Plugins and Configuration Query¶

The RSB information query tool can used to display information regarding

• the RSB library version
• the set of registered connectors
• the set of available converters

Implementation Language	Project	Repository Link
C++	rsb-cpp	source:trunk/cpp/core/apps

Example: version only

[jmoringe@azurit build]$ ./rsb_version
Version: 0.4.0, build 1911 (DATE 2011-06-30 15:14:46 +0200 (Thu, 30 Jun 2011)), abi 2

Example: verbose mode

[jmoringe@azurit build]$ ./rsb_version --verbose
Version: 0.4.0, build 1911 (DATE 2011-06-30 15:14:46 +0200 (Thu, 30 Jun 2011)), abi 2

Connectors
ConnectorFactory<rsb::transport::InPushConnector>[
    ConnectorInfo[inprocess, schemas = {inprocess}, options = {enabled}]
    ConnectorInfo[spread, schemas = {spread}, options = {host, port, enabled}]
]
ConnectorFactory<rsb::transport::OutConnector>[
    ConnectorInfo[inprocess, schemas = {inprocess}, options = {enabled}]
    ConnectorInfo[spread, schemas = {spread}, options = {host, maxfragmentsize, port, enabled}]
]

Converters
Repository<std::string>[
    .*               <-> bytearray       : rsb::converter::ByteArrayConverter[wireType = std::string, wireSchema = .*, dataType = bytearray]
    bool             <-> bool            : rsb::converter::BoolConverter[wireType = std::string, wireSchema = bool, dataType = bool]
    uint64           <-> unsigned long   : rsb::converter::Uint64Converter[wireType = std::string, wireSchema = uint64, dataType = unsigned long]
    utf-8-string     <-> std::string     : rsb::converter::StringConverter[wireType = std::string, wireSchema = utf-8-string, dataType = std::string]
    void             <-> void            : rsb::converter::VoidConverter[wireType = std::string, wireSchema = void, dataType = void]
]

Logger¶

The RSB logger participates in a channel using one or more transports and displays all events published on the channel using a configurable style.

Implementation Language	Project	Repository Link	Compiled Binary
C++	rsb-cpp-tools	source:trunk/cpp/tools	Artifacts of this Jenkins job
Common Lisp	cl-rsb-tools	source:trunk/cl-rsb-tools	Linux i686, Linux x86_64, MacOS x86_64

Example:
In the following example, the C++ version of the logger is instructed to participate in the channel designated by the root scope /. This means that the logger will display all events which are receivable using its configured transports. In this example, the configured transports depend on the RSB configuration file and environment variables.

[jmoringe@azurit logger]$ ./rsblogger --format detailed /
Event
  Scope  /
  Id     ac5f449c-4aa1-4b03-a9e2-3fac7d38e651
  Type   bytearray
  Origin ab6e3a17-e11f-4c89-8c07-606a009e8439
Timestamps
  Create  2011-Jul-03 12:51:11.802849+??:??
  Send    2011-Jul-03 12:51:11.802950+??:??
  Receive 2011-Jul-03 12:51:11.810332+??:??
  Deliver 2011-Jul-03 12:51:11.810572+??:??
Payload (bytearray, length 100000)
  0x0000 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
  0x0017 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
  0x002e 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
  0x0045 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ...
-------------------------------------------------------------------------------
Event
  Scope  /
  Id     3fd721ef-6e7c-4e81-bd5f-ff215b2b965f
  Type   std::string
  Origin 8e07e02a-0dee-44a2-8926-cc65c0285410
Timestamps
  Create  2011-Jul-03 12:51:20.102403+??:??
  Send    2011-Jul-03 12:51:20.102482+??:??
  Receive 2011-Jul-03 12:51:20.105319+??:??
  Deliver 2011-Jul-03 12:51:20.105404+??:??
Payload (std::string, length 3)
  foo
-------------------------------------------------------------------------------

Example (inspection of protocol buffer event payloads):
In this example, the Common Lisp version of the RSB logger is used to display protocol buffer event payloads. This only works, if the logger is provided with the protocol buffer IDL definitions of the event payloads it should display (in this example: the running.example.Image message from the slides used in this meeting). These definitions can either be textual definitions, typically found in .proto files (as in this example), or compiled, binary descriptions (not shown).

[jmoringe@azurit build-x86_64]$ ls ~/projects/talk-rsb-data/code/*.proto
/homes/jmoringe/projects/talk-rsb-data/code/Image.proto
[jmoringe@azurit build-x86_64]$ ./logger-builtin-spread --style detailed --load-idl "/homes/jmoringe/projects/talk-rsb/data/code/" spread:
Event
  Scope : /
  Id    : 89064E22-C503-44DA-9C65-9385C29D09A1
  Type  : T
  Origin: ABB03F86-655A-42EE-9D5B-26D34C922A3A
Timestamps
  Create : 2011-07-16T00:28:52.123994+02:00
  Send   : 2011-07-16T00:28:52.124095+02:00
  Receive: 2011-07-16T00:28:52.235294+02:00
  Deliver: 2011-07-16T00:28:52.243197+02:00
Payload (RUNNING.EXAMPLE:IMAGE)
  #<IMAGE {1005B10C81}>
    Meta-Data: #<META-DATA {10063AF2B1}>
                 Key  : "foo" 
                 Value: "bar" 
    Width    : 20
    Height   : 30
    Depths   : 20
               10
    Data     : 01 02 03 04 
-------------------------------------------------------------------------------

Here is another example which loads all definitions contained in the Robotics Systems Types repository. Note the use of the --idl-path option for import resolution and the use of wildcards to load all definitions at once. Also note that loading all definitions takes a few seconds.

[jmoringe@azurit build-x86_64]$ ./logger-builtin-spread --idl-path "~/code/cor-lab/rst/trunk/rst/proto/sandbox/"   \
                                                        --idl-path "~/code/cor-lab/rst/trunk/rst/proto/stable/"    \
                                                        --load-idl '~/code/cor-lab/rst/trunk/rst/proto/**/*.proto' \
                                                        --style detailed spread:

RPC Call¶

The call tool can be used to invoke methods of RSB RPC servers.

Implementation Language	Project	Repository Link	Compiled Binary
Common Lisp	cl-rsb-tools	source:trunk/cl-rsb-tools	Linux i686, Linux x86_64, MacOS x86_64

Example:
In this example, the call tool is used to invoke the terminate method of the remote server at scope /control without an argument.

[jmoringe@azurit logger]$ ./call 'spread:/control/terminate()'
[jmoringe@azurit logger]$ 

System-level and Debugging Tools¶

Spread Sniffer¶

The Spread sniffer tool allows debugging low-level communication when the Spread transport is used. It displays raw payloads of Spread messages and, if possible, the corresponding decoded Notification objects.

Implementation Language	Project	Repository Link	Compiled Binary
Common Lisp	cl-rsb-tools	source:trunk/cl-rsb-tools	TODO

Example:

[jmoringe@azurit build]$ ./spread-sniffer
0000 12 10 73 F4 31 91 9D C2 48 C4 9C A9 92 33 03 ED 2A AB 32 05 2F 66 6F 6F 2F 
0019 3A 0C 75 74 66 2D 38 2D 73 74 72 69 6E 67 4A 03 62 61 72 58 01 60 00 7A 24 
0032 0A 10 62 AB 33 5F 9A F7 4A FE B2 D1 86 7B 81 3D 60 26 10 95 99 B0 85 FF E4 
004B A9 02 18 CB 99 B0 85 FF E4 A9 02 
#<NOTIFICATION {10046DFF41}>
  Version       : 31 2E 30 ("1.0")
  Id            : 73 F4 31 91 9D C2 48 C4 9C A9 92 33 03 ED 2A AB 
  Scope         : 2F 66 6F 6F 2F ("/foo/")
  Wire-Schema   : 75 74 66 2D 38 2D 73 74 72 69 6E 67 ("utf-8-string")
  Data          : 62 61 72 ("bar")
  Meta-Data     : #<META-DATA {10047D8681}>
                    Sender-Id   : 62 AB 33 5F 9A F7 4A FE B2 D1 86 7B 81 3D 60 26 
                    Create-Time : 1309689890213013
                    Send-Time   : 1309689890213067
                    Receive-Time: 0
                    Deliver-Time: 0
                    User-Times  : <empty sequence>
                    User-Infos  : <empty sequence>
  Num-Data-Parts: 1
  Data-Part     : 0
  Method        : <empty sequence>