Tools¶

The information on this page has been superseded by the RSB Manual.

• Tools
  • Introspection
    • Logger
    • RPC Call

Introspection¶

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/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/Image.proto" 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/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]$