Using qicli commands¶
qicli commands allows you to:
- see information,
- use methods and
- watch signals.
How to run qicli¶
Prerequisite¶
- Make sure NAOqi is running.
Running qicli¶
- Connect on SSH to you robot.
- Use qicli on your computer and connect remotely on a robot.
$ ./qicli cmd args --qi-url IPofYourRobot
qicli info¶
qicli info is used to display: - a list of services and - a detailed list of methods and signals of specific services.
With no argument, it lists services:
$ qicli info
> 001 [ServiceDirectory]
002 [LogManager]
003 [ALFileManager]
004 [ALMemory]
005 [ALLogger]
...
This is equivalent to:
$ qicli info --list
$ qicli info -l
$ qicli # Without any argument
With a service’s name as argument, it gives:
$ qicli info ServiceDirectory
> 001 [ServiceDirectory]
* Info:
machine 37814cee-e5a8-4183-9862-65d10460f0e5
process 3665
endpoints tcp://127.0.0.1:9559
tcp://198.18.0.1:9559
tcp://10.2.1.177:9559
* Methods:
100 service (String)
101 services List<> ()
102 registerService UInt32 ()
103 unregisterService Void (UInt32)
104 serviceReady Void (UInt32)
105 updateServiceInfo Void ()
108 machineId String ()
* Signals:
106 serviceAdded (UInt32,String)
107 serviceRemoved (UInt32,String)
There is always 3 parts:
- Info
- general information about service,
- Methods
- list of methods,
- Signals
- list of signals.
The 2 last parts may be empty.
Methods and Signal follow the format:
[id] name [return_type] ([parameters_types...])
If the name of the service is a bit long, identifiers can be used instead:
$ qicli info ServiceDirectory
$ qicli info 1
Command also accept several services’ names simultaneously:
$ qicli info ServiceDirectory LogManager
> 001 [ServiceDirectory]
* Info:
machine 37814cee-e5a8-4183-9862-65d10460f0e5
process 3665
endpoints tcp://127.0.0.1:9559
tcp://198.18.0.1:9559
tcp://10.2.1.177:9559
* Methods:
100 service (String)
101 services List<> ()
102 registerService UInt32 ()
103 unregisterService Void (UInt32)
104 serviceReady Void (UInt32)
105 updateServiceInfo Void ()
108 machineId String ()
* Signals:
106 serviceAdded (UInt32,String)
107 serviceRemoved (UInt32,String)
002 [LogManager]
* Info:
machine 37814cee-e5a8-4183-9862-65d10460f0e5
process 3665
endpoints tcp://127.0.0.1:9559
tcp://198.18.0.1:9559
tcp://10.2.1.177:9559
* Methods:
100 log Void (LogMessage)
101 getListener Object ()
102 addProvider Int32 (Ob ject)
103 removeProvider Void (Int32)
* Signals:
Globing can also be used:
$ qicli info "LogMa*"
> 002 [LogManager]
* Info:
machine 37814cee-e5a8-4183-9862-65d10460f0e5
process 3665
endpoints tcp://127.0.0.1:9559
tcp://198.18.0.1:9559
tcp://10.2.1.177:9559
* Methods:
100 log Void (LogMessage)
101 getListener Object ()
102 addProvider Int32 (Object)
103 removeProvider Void (Int32)
* Signals:
Advanced features¶
Extra options:
- –show-doc
- show documentation for methods, signals and properties.
- –hidden
- show hidden services, methods, signals and properties.
- –raw-signature
- show the raw signature.
- -z
- prints the result in a parseable format
- Logging options:
./doc/general/source/dev/tools/naoqi-man.rst
qicli call¶
This command allows you to call service’s methods ans signals.
Returned values follow json format.
$ qicli call ALFileManager.ping
> ALFileManager.ping: true
More complex return values can also be returned.
$ qicli call ALMemory.getEventList
> ALMemory.getEventList: [ "/Preferences", "ALAnimatedSpeech/EndOfAnimatedSpeech", "ALAudioSourceLocalization/SoundLocated", "ALAudioSourceLocalization/SoundsLocated", ...]
Where
[ ... ] is a list in json.
Identifiers can also be used instead of names:
$ qicli call 4.123
> ALMemory.getEventList: [ "/Preferences", "ALAnimatedSpeech/EndOfAnimatedSpeech", "ALAudioSourceLocalization/SoundLocated", "ALAudioSourceLocalization/SoundsLocated", ...]
Several arguments can be given:
$ qicli call ServiceDirectory.service PackageManager
> ServiceDirectory.service: [ "PackageManager", 41, "4fd62363-f74d-4c6d-81d1-c1b9304c77d2", 3840, [ "tcp://10.0.252.216:34510", "tcp://127.0.0.1:34510" ], "0967f415-db38-43a4-b5a9-7ac70539891d" ]
Complex arguments (list, objects) of methods must be given in JSON with option –json.
Warning
JSON and terminals do not work well together.
$ qicli call --json ALMemory.insertListData "[[\"foo\",true],[\"bar\",1]]"
> ALMemory.insertListData: null
In order to call a hidden method, add –hidden
- Extra options:
- –method arg
- method’s name
- –arg arg
- method’s args
- –bench arg
- bench the call time using given iteration count
- –continue
- continue on error
qicli watch¶
Qicli watch is used to see when a signal is triggered.
For example, to get information each time a package is installed on your robot, use:
$ qicli watch PackageManager.onPackageInstalled
- Extra options:
- -s [ –signal ] arg
- service’s name
- -t [ –time ]
- Print time
- –hidden
- watch hidden signals if they match the given pattern
- –continue
- continue on error
- –almemory
- watch ALMemory events
qicli log-view¶
Qicli log-view is used to display logs.
$ qicli log-view
- Extra options:
- -v [ –verbose ]
- Set maximum logs verbosity shown to verbose.
- -d [ –debug ]
- Set maximum logs verbosity shown to debug.
- -l [ –level ]
- arg (=4) Change the log minimum level: [0-6] (default:4). This option accept the same arguments’ format than –qi-log-level.
- -f [ –filters ] arg
- Set log filtering options. This option accepts the same arguments’ format than –qi-log-filters.
qicli log-send¶
Qicli log-send is used to send logs.
for sending a message:
$ qicli log-send hello
This is equivalent to:
$ qicli log-send --message hello
$ qicli log-send -m hello
To send a message with your own Message’s category (default: “qicli.qilog.logsend”):
$ qicli log-send --category MyCategory -m MyMessage
$ qicli log-send -c MyCategory -m MyMessage
- Extra options:
- -v [ –verbose ]
- Set message verbosity to verbose.
- -d [ –debug ]
- Set message verbosity to debug.
- -l [ –level ] arg (=4)
- Change the log minimum level: [0-6] (default:4). This option accepts the same arguments’ format than –qi-log-level.
