Omnicon-GenericDDSEngine-Py 4.5.5

Omnicon Generic DDS Engine Python API

OmniCon GenericDDSEngine PythonAPI

Introduction

OmniCon's Generic DDS Engine is a pluggable software library that provides simple, fully generic monitoring and message injection capabilities for Data Distribution Service (DDS).

Motivation

This project encapsulates DDS-complex API and configuration. It provides a simple, user friendly API to easily incorporate DDS traffic to generic monitoring and visualization tools.

Engine Capabilites

Engine's monitor inputs:

1. Active dynamic/static monitoring based on a generic DDS Participant.
2. Passive (non-intrusive) dynamic monitoring using network sniffing techniques.
3. Offline network recording dissection.

Engine's monitor outputs & plugins:

1. A generic C++, C# and Python APIs for receiving monitored messages in JSON and Map formats via push/poll methods.
2. Customized integration to operational monitoring tools (proprietary and open-source).
3. Textual reports generation.
4. Integration to databases (relational and non-relational).

Engine's message injection:

1. A C++, C# and Python APIs for injecting messages via JSON or Map formats.
2. Message injection based on a user-provided textual format (e.g. CSV).

DDS XML/IDL Type Files Introspection:

1. A simplified C++, C# and Python APIs for extracting detailed information on a selected DDS type's structure.
2. Documentation / ICD generator.

DDS Overview

The OMG Data Distribution Service (DDS™) is a middleware protocol and API standard for data-centric connectivity from the Object Management Group® (OMG®). It integrates the components of a system together, providing low-latency data connectivity, extreme reliability, and a scalable architecture that business and mission-critical Internet of Things (IoT) applications need.
For more information refer to https://www.dds-foundation.org/.

Installation

• pip install Omnicon-GenericDDSEngine-Py
• Requires: Visual Studio redistributable (https://aka.ms/vs/17/release/vc_redist.x64.exe)
• An Omnnicon license is required to utilize the API. Please Contact [e-mail].

Examples

For full API documentation and examples refer to https://www.OmniconSystems.com

Active Dynamic Monitoring

Demonstrate how to dinamically monitor every topic in a desired DDS domain. The same API applies for Passive monitoring.

from Omnicon_GenericDDSEngine_Py import Omnicon_GenericDDSEngine_Py as omnicon
from time import sleep


class ActiveDynamicMonitorExampleListener(omnicon.EngineListener):

    def OnUserDataJson(self, sampleJson):
        print("OnUserDataJson")
        print(sampleJson)

    def OnDiscoveryDataJson(self, sampleJson):
        print("OnDiscoveryDataJson")
        print(sampleJson)


class ActiveDynamicMonitorExample:
    def __init__(self):
        print(self.run())

    @staticmethod
    def run():
        print("Active Dynamic Monitoring Example")

        # Factory configuration (optional) (can also be performed via an XML configuration)
        factory_configuration = omnicon.FactoryConfiguration()
        factory_configuration.loggerConfiguration.verbosity = omnicon.LogSeverityLevel.trace
        if not omnicon.GenericDDSEngine.SetFactoryConfiguration(factory_configuration):
            print("error setting factory configuration")
            return False

        # Engine configuration (can also be performed via API)
        engine = omnicon.GenericDDSEngine()
        engine_configuration = omnicon.EngineConfiguration()
        engine_configuration.engineOperationMode = omnicon.EngineOperationMode.ACTIVE_DYNAMIC_MONITORING
        engine_configuration.ddsConfigurationFilesPath.append("./EngineConfigurationExamples/ActiveDynamicMonitoring")
        engine_configuration.enableJsonOutput = True

        if not engine.Init(engine_configuration):
            return False

        # Register to engine's callbacks/events
        listener = ActiveDynamicMonitorExampleListener()
        if not engine.BindListener(listener, omnicon.ON_USER_DATA_JSON | omnicon.ON_DISCOVERY_DATA_JSON):
            return False

        if not engine.Run():
           return False

        print("Running Example...")
        input('Press Enter to Exit ')
        sleep(1)
        engine.UnbindListener()
        print("Shutting Down...")

Required Standard DDS configuration files include a basic participant with the DDS types files and DDS domain. For example:

<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
  <types>
    <enum name="ShapeFillKind">
        <enumerator name="SOLID_FILL"/>
        <enumerator name="TRANSPARENT_FILL"/>
        <enumerator name="HORIZONTAL_HATCH_FILL"/>
        <enumerator name="VERTICAL_HATCH_FILL"/>
    </enum> 
    <struct name= "ShapeType">
        <member name="color" stringMaxLength="128" type="string" key="true"/>
        <member name="x" type="int32"/>
        <member name="y" type="int32"/>
        <member name="shapesize" type="int32"/>
    </struct>
    <struct name= "ShapeTypeExtended" baseType="ShapeType">
        <member name="fillKind" type="nonBasic"  nonBasicTypeName= "ShapeFillKind"/>
        <member name="angle" type="float32"/>
    </struct>
  </types>

  <domain_library name="Domain_Lib">
    <domain name="Domain" domain_id="7"/>
  </domain_library>

  <domain_participant_library name="Participants_Lib">
    <domain_participant name="OmniCon_Engine_Participant" domain_ref="Domain_Lib::Domain">
      <subscriber name="Subscriber"/>
    </domain_participant>
  </domain_participant_library>

</dds>

Message Injection

Demonstrate how to generically inject every DDS Topic using dictionary/json format.

from Omnicon_GenericDDSEngine_Py import Omnicon_GenericDDSEngine_Py as omnicon
from time import sleep


class MessageInjectionExample:
    def __init__(self):
        print(self.run())

    @staticmethod
    def run():
        print("Message Injection Example")

        engine = omnicon.GenericDDSEngine()
        # Engine configuration (can also be performed via xml config file)
        engine_configuration = omnicon.EngineConfiguration()
        engine_configuration.engineOperationMode = omnicon.EngineOperationMode.MESSAGE_INJECTION
        engine_configuration.ddsConfigurationFilesPath.append("./EngineConfigurationExamples/MessageInjection")

        if not engine.Init(engine_configuration):
            return False
        if not engine.Run():
            return False

        # Prevent data races:
        sleep(2)
        print("List of available writers: ")
        for writerInfo in engine.GetWritersInfo():
            print(writerInfo.entityName, "to Topic", writerInfo.topicName)
        print("")

        # Primitive Topic message:
        primitive_topic_input = {
            "SampleData.myLongLong": "-1",
            "SampleData.myUnsignedShort": "0",
            "SampleData.myFloat": "-6789889.3392",
            "SampleData.myDouble": "-6789898989.33999442",
            "SampleData.myBoolean": "0",  # can also use "False"
            "SampleData.myChar": "",
            "SampleData.myWchar": "0",  # wchar is treated as number
            "SampleData.myOctet": "0",
            "SampleData.myShort": "-32768",
            "SampleData.myLong": "-2147483648",
            "SampleData.myUnsignedLong": "0"
        }
        print("Injecting Primitive Topic Message")
        engine.InjectMessage("Publisher::PrimitiveTypeTopic_DW", primitive_topic_input)

        # String Topic Message
        string_topic_input = {
            "SampleData.myBoundedString": "Hello",
            "SampleData.myUnboundedString": "OmniCon",
            "SampleData.myBoundedWString": "!"
        }
        print("Injecting String Topic Message")
        engine.InjectMessage("Publisher::StringsTypeTopic_DW", string_topic_input)

        # Enum Topic Message
        enum_topic_input = {
            "SampleData.mySimpleEnum": "2",
            "SampleData.myDigitsEnum": "-1",
            "SampleData.LetterPrimitiveEnum": "1"
        }
        print("Injecting Enum Topic Message")
        engine.InjectMessage("Publisher::EnumTypeTopic_DW", enum_topic_input)

        # PrimitiveNested Topic Message
        primitive_nested_topic_input = {
            "SampleData.myAliasLongType": "1",
            "SampleData.myFirstType.myChar": "1",
            "SampleData.myFirstType.myWchar": "1",
            "SampleData.myFirstType.myOctet": "1",

            "SampleData.PrimitiveSecondNested.myFloat": "2.5",
            "SampleData.PrimitiveSecondNested.myNestedType.myChar": "z",
            "SampleData.PrimitiveSecondNested.myDouble": "3.14159265359"
        }
        print("Injecting PrimitiveNested Topic Message")
        engine.InjectMessage("Publisher::PrimitiveNestedTypeTopic_DW", primitive_nested_topic_input)

        # Array Topic Message
        array_type_topic_input = {
            "SampleData.myKey": "1",
            "SampleData.AliasCharArray[0]": "1",
            "SampleData.PrimitiveOneDimensionalLiteralSizeArray.boolean_array[0]": "1",
            "SampleData.PrimitiveOneDimensionalLiteralSizeArray.boolean_array[1]": "0",
            "SampleData.PrimitiveOneDimensionalLiteralSizeArray.boolean_array[2]": "1",
            "SampleData.PrimitiveOneDimensionalLiteralSizeArray.short_array[0]": "223",
        }
        print("Injecting ArrayTypeTopic Topic Message")
        engine.InjectMessage("Publisher::ArrayTypeTopic_DW", array_type_topic_input)

        # Sequence Topic Message
        sequence_topic_message = 	{
					  "SampleData": {
						"myKey": "0",
						"myBooleanSeq": [
							"TRUE"
						],
						"myAliasLongUSeq": [],
						"myAliasSeqEnumMember": [
							"(1) - GREEN",
							"(2) - BLUE"
						],
						"myAliasSeqStringMember": [
							"ABC"
						],
						"myPrimitiveSeq": [
							{
								"myChar": "\u0000",
								"myWchar": "0",
								"myOctet": "0",
								"myShort": "2",
								"myUnsignedShort": "0",
								"myLong": "0",
								"myUnsignedLong": "0",
								"myLongLong": "0",
								"myUnsignedLongLong": "0",
								"myFloat": "0",
								"myDouble": "0",
								"myBoolean": "TRUE"
							}
						],
			        }
                }
        print("Injecting SequenceTypeTopic Topic Message")
        engine.InjectMessage("Publisher::SequenceTypeTopic_DW", sequence_topic_message)

        # Union Topic Message
        union_type_topic_input = {
            "SampleData.myKey": "1",
            "SampleData.mySimpleUnion.AliasLong_2_3": "111",
            # "SampleData.PositionError.Error3DMember.sigmaXX": "23",
            "SampleData.PositionError.Error2DMember.sigmaXX": "245"
        }
        print("Injecting UnionTypeTopic Topic Message")
        engine.InjectMessage("Publisher::UnionTypeTopic_DW", union_type_topic_input)

        input("Press Enter to Exit...")
        return True

Required Standard DDS configuration files include a basic participant with the DDS types files and DDS domain. For example:

<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
  <types>
    <!--User Types-->
    <include file="TypeFiles/ShapeType.xml" />
    <include file="TypeFiles/myIncludedTypesTester.xml" />
    <include file="TypeFiles/myGenericTypesTester.xml" />
  </types>

<!-- Optional -->
  <qos_library name="QOSLibrary">
    <qos_profile name="DefaultProfile" is_default_participant_factory_profile="true" is_default_qos="true" >
      <participant_qos/>
      <datawriter_qos>
        <property>
          <value>
            <!--Required for unbounded types support-->
            <element>
              <name>dds.data_writer.history.memory_manager.fast_pool.pool_buffer_max_size</name>
              <value>4096</value>
            </element>
          </value>
        </property>
      </datawriter_qos>
      <datareader_qos>
        <property>
          <value>
            <!--Required for unbounded types support-->
            <element>
              <name>dds.data_reader.history.memory_manager.fast_pool.pool_buffer_max_size</name>
              <value>4096</value>
            </element>
          </value>
        </property>
      </datareader_qos>
    </qos_profile>
  </qos_library>



  <domain_library name="Domain_Lib">
    <domain name="Domain" domain_id="7">
      <!--Types Definition-->
      <register_type name="ShapeType" type_ref="ShapeType" />
      <register_type name="PrimitiveType" type_ref="PrimitiveType" />
      <register_type name="MyNamespace::StringsType" type_ref="MyNamespace::StringsType" />
      <register_type name="EnumType" type_ref="EnumType" />
      <register_type name="PrimitiveNestedType" type_ref="PrimitiveNestedType" />
      <register_type name="SequenceType" type_ref="SequenceType" />
      <register_type name="UnionType" type_ref="UnionType" />
      <register_type name="ArrayType" type_ref="ArrayType" />

      <!--Topics Definition-->
      <topic name="Square" register_type_ref="ShapeType"/>
      <topic name="PrimitiveTypeTopic" register_type_ref="PrimitiveType" />
      <topic name="StringsTypeTopic" register_type_ref="MyNamespace::StringsType" />
      <topic name="EnumTypeTopic" register_type_ref="EnumType" />
      <topic name="PrimitiveNestedTypeTopic" register_type_ref="PrimitiveNestedType" />
      <topic name="SequenceTypeTopic" register_type_ref="SequenceType" />
      <topic name="UnionTypeTopic" register_type_ref="UnionType" />
      <topic name="ArrayTypeTopic" register_type_ref="ArrayType" />

    </domain>
  </domain_library>
  <domain_participant_library name="Participants_Lib">
    <domain_participant name="OmniCon_Engine_Participant" domain_ref="Domain_Lib::Domain">
      <publisher name="Publisher">
        <data_writer name="PrimitiveTypeTopic_DW" topic_ref="PrimitiveTypeTopic">
          <datawriter_qos base_name="QOSLibrary::DefaultProfile"/>
        </data_writer>
        <data_writer name="StringsTypeTopic_DW" topic_ref="StringsTypeTopic">
          <datawriter_qos base_name="QOSLibrary::DefaultProfile"/>
        </data_writer>
        <data_writer name="EnumTypeTopic_DW" topic_ref="EnumTypeTopic">
          <datawriter_qos base_name="QOSLibrary::DefaultProfile"/>
        </data_writer>
        <data_writer name="PrimitiveNestedTypeTopic_DW" topic_ref="PrimitiveNestedTypeTopic">
          <datawriter_qos base_name="QOSLibrary::DefaultProfile"/>
        </data_writer>
        <data_writer name="ArrayTypeTopic_DW" topic_ref="ArrayTypeTopic">
          <datawriter_qos base_name="QOSLibrary::DefaultProfile"/>
        </data_writer>
        <data_writer name="SequenceTypeTopic_DW" topic_ref="SequenceTypeTopic">
          <datawriter_qos base_name="QOSLibrary::DefaultProfile"/>
        </data_writer>
        <data_writer name="UnionTypeTopic_DW" topic_ref="UnionTypeTopic">
          <datawriter_qos base_name="QOSLibrary::DefaultProfile"/>
        </data_writer>
      </publisher>
    </domain_participant>
  </domain_participant_library>
</dds>

Type Introspection Example

Demonstrate how to extract DDS type infromation for analysis purposes.

from Omnicon_GenericDDSEngine_Py import Omnicon_GenericDDSEngine_Py as omnicon

class TypeIntrospectionExample:
    def __init__(self):
        print(self.run())

    @staticmethod
    def run():
        print("Type Introspection Example")
        factory_configuration = omnicon.FactoryConfiguration()
        factory_configuration.loggerConfiguration.verbosity = omnicon.LogSeverityLevel.trace
        omnicon.GenericDDSEngine.SetFactoryConfiguration(factory_configuration)

        engine = omnicon.GenericDDSEngine()
        # Engine configuration (can also be performed via xml config file)
        engine_configuration = omnicon.EngineConfiguration()
        engine_configuration.engineOperationMode = omnicon.EngineOperationMode.TYPE_INTROSPECTION
        engine_configuration.ddsConfigurationFilesPath.append("./EngineConfigurationExamples/TypeIntrospection/TopicNamesToTypesDefMap.xml")

        if not engine.Init(engine_configuration):
            return False
        if not engine.Run():
            return False

        DDSTopicToTypeXMLMapping = omnicon.GenericDDSEngine.GetTopicNameToTypeNameMap(
            "./EngineConfigurationExamples/TypeIntrospection/TopicNamesToTypesDefMap.xml")
        for topic, type in DDSTopicToTypeXMLMapping.items():
            print(topic + " - " + type)

            dds_type = engine.IntrospectType(type)
            if dds_type is None:
                print(type + " is None")
            for element in dds_type.structure:
                print(element.name)

                if element.typeKindName == "STRUCTURE":
                    print("\tdataTypeName - " + (element).dataTypeName)
                if element.typeKindName == "STRING":
                    print("\tlen - " + str((element).length))
                if element.typeKindName == "ENUMERATION":
                    print("\tENUMERATION")
                if element.typeKindName == "SEQUENCE":
                    print("\tlen - " + str((element).length))

Required Standard DDS configuration files include a basic DDS types/topic XML definition. For example:

<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
     xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/6.1.0/rti_dds_profiles.xsd"
     version="6.1.0">
  <types>
    <include file="TypeFiles//myIncludedTypesTester.xml"/>
    <include file="TypeFiles//myGenericTypesTester.xml"/>
    <include file="TypeFiles//ShapeType.xml"/>
  </types>

  <domain_library name="Domain_Lib">
    <domain name="Domain">
      <!--Types Definition-->
      <register_type name="ShapeType" type_ref="ShapeTypeExtended" />
      <register_type name="PrimitiveType" type_ref="PrimitiveType" />
      <register_type name="MyNamespace::StringsType" type_ref="MyNamespace::StringsType" />
      <register_type name="EnumType" type_ref="EnumType" />
      <register_type name="PrimitiveNestedType" type_ref="PrimitiveNestedType" />
      <register_type name="SequenceType" type_ref="SequenceType" />
      <register_type name="UnionType" type_ref="UnionType" />
      <register_type name="ArrayType" type_ref="ArrayType" />

      <!--Topics Definition-->
      <topic name="Square" register_type_ref="ShapeType"/>
      <topic name="PrimitiveTypeTopic" register_type_ref="PrimitiveType" />
      <topic name="StringsTypeTopic" register_type_ref="MyNamespace::StringsType" />
      <topic name="EnumTypeTopic" register_type_ref="EnumType" />
      <topic name="PrimitiveNestedTypeTopic" register_type_ref="PrimitiveNestedType" />
      <topic name="SequenceTypeTopic" register_type_ref="SequenceType" />
      <topic name="UnionTypeTopic" register_type_ref="UnionType" />
      <topic name="ArrayTypeTopic" register_type_ref="ArrayType" />
    </domain>
  </domain_library>

</dds>

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