rb_flat_buffers

rb_flat_buffers는 schemas/*.fbs로부터 생성된 Python FlatBuffer 코드 패키지입니다.

핵심 요약

소스 스키마: /schemas/**/*.fbs
생성 결과 1: backend/packages/rb_flat_buffers/src/rb_flat_buffers/** (FlatBuffer Python generated code)
생성 결과 2: backend/packages/rb_schemas/src/rb_schemas/fbs_models/** (Pydantic 모델)

즉, make backend.flatc를 실행하면:

FlatBuffer Python 코드가 rb_flat_buffers에 생성되고
동일 스키마 기반 Pydantic 모델이 rb_schemas에 생성됩니다.

생성 방법

프로젝트 루트에서:

make backend.flatc

backend.mk의 backend.flatc 타깃은 내부적으로 아래를 순서대로 실행합니다.

scripts/backend/generate_flatbuffers.py

flatc --python --gen-object-api --gen-all 기반 생성
출력: backend/packages/rb_flat_buffers/src/rb_flat_buffers

backend/packages/rb_flat_buffers/scripts/patch_imports.py

generated import 경로/누락 import 보정

scripts/backend/fbs_to_pydantic.py

.fbs를 Pydantic 모델로 변환
출력: backend/packages/rb_schemas/src/rb_schemas/fbs_models

언제 실행해야 하나

아래 케이스에서는 make backend.flatc를 다시 실행해야 합니다.

schemas/*.fbs 수정
신규 .fbs 파일 추가/삭제
FlatBuffer 타입/필드 변경(table/struct/enum/union)

rb_flat_buffers 사용 예시

예: 요청 객체 전송 + 값이 채워진 FlatBuffer 응답(returnValue) 수신

# server/queryable 쪽
from rb_flat_buffers.IPC.Request_Move_SmoothJogStop import Request_Move_SmoothJogStopT
from rb_flat_buffers.IPC.Response_Functions import Response_FunctionsT
from rb_zenoh.router import ZenohRouter

router = ZenohRouter()

@router.queryable(
    "C500920/call_smoothjog_stop",
    flatbuffer_req_t=Request_Move_SmoothJogStopT,
    flatbuffer_res_buf_size=64,
)
def on_call_pause(req, params=None):
    print(req.stoptime)  # 요청으로 전달된 값 사용 가능
    res = Response_FunctionsT()
    res.returnValue = 123  # 빈 payload가 아니라 실제 값 포함
    return res

# client/query 쪽
from rb_flat_buffers.IPC.Request_Move_SmoothJogStop import Request_Move_SmoothJogStopT
from rb_flat_buffers.IPC.Response_Functions import Response_FunctionsT
from rb_zenoh.client import ZenohClient

client = ZenohClient()
req = Request_Move_SmoothJogStopT()
req.stoptime = 0.7

res = client.query_one(
    "C500920/call_smoothjog_stop",
    flatbuffer_req_obj=req,
    flatbuffer_res_T_class=Response_FunctionsT,
    flatbuffer_buf_size=64,
)

obj = res.get("obj_payload")
print(obj.returnValue)  # 123

rb_schemas(Pydantic) 사용 예시

query_one 응답의 obj_payload를 Pydantic으로 validate한 뒤, model_dump에서 원하는 key case를 선택할 수 있습니다.

from rb_flat_buffers.IPC.Response_Functions import Response_FunctionsT
from rb_schemas.fbs_models.nexus.v1.deploy_models import Response_Deploy_UploadPD
from rb_utils.parser import t_to_dict
from rb_zenoh.client import ZenohClient

client = ZenohClient()

res = client.query_one(
    "deploy/call_upload",
    flatbuffer_res_T_class=Response_FunctionsT,
    timeout=0.3,
)

obj_payload = res.get("obj_payload")

# 1) FlatBuffer T 객체 -> dict 변환
raw_dict = t_to_dict(obj_payload) if obj_payload is not None else {}

# 2) Pydantic validate
pd_obj = Response_Deploy_UploadPD.model_validate(raw_dict)

# 3) key case 선택
snake_case = pd_obj.model_dump(by_alias=False)  # ex) return_value
camel_case = pd_obj.model_dump(by_alias=True)   # ex) returnValue

주의사항

패키지명은 rb_flat_buffers입니다. (rb_flat_buffer 아님)
generated 파일은 수동 수정하지 않는 것을 권장합니다.
flatc가 PATH에 없으면 make backend.flatc가 실패합니다.

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