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.