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-all기반 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/*.fbs수정- 신규
.fbs파일 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_buffer아님) - generated 파일은 수동 수정하지 않는 것을 권장합니다.
flatc가 PATH에 없으면make backend.flatc가 실패합니다.
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