Service Discovery

A powerful feature of Robot Raconteur is the ability to detect services automatically. Each transport has a method to broadcast what services are available. For the TcpChannel this is accomplished through broadcast UDP packets. Other transports will use the method most appropriate for the transport technology.

The first step in the auto-discovery process for TCP is for the node containing the service to broadcast an announcement that the node is available. Version 0.9 and up use a request-response method for autodiscovery. Nodes send a broadcast UDP packet every 55 seconds to announce that they are available and still listening. This low frequency broadcast is not frequent enough for nodes searching for services, so broadcasting nodes will also wait for request broadcast packets. Clients will send requests packets when they begin searching for services. Service nodes will then respond with their connection information, after a random backoff period to prevent congestion. By default, the TCP discovery is only enabled for IPv6 to reduce network traffic. IPv4 can be enabled by specifying different flags to the TcpTransport or ServerNodeSetup.

For the LocalTransport, the discovery information is stored on the filesystem.

The packet sent by the service nodes contains the NodeName, NodeID, and a URL to connect to the “Service Index”, which is a special service that lists the services registered in the node. The client will interrogate the service nodes it has discovered to determine the available services. The “Service Index” is registered automatically by the node and does not require any extra configuration by the user.

The auto-discovery functionality is automatically enabled by ServerNodeSetup and the from RobotRaconteur.Client import * functions. To manually enable auto-discovery on transports, use:

t=RR.TcpTransport()
t.EnableNodeDiscoveryListening()

For the service, use:

t=RR.TcpTransport()
t.EnableNodeAnnounce()

To find a service, use the command:

res=RRN.FindServiceByType("experimental.create3.Create",["rr+local","rr+tcp","rrs+tcp"])

where “experimental.create3.Create” is replaced with the fully qualified type being searched for and the second parameter is a list of the transport types to search. res is a list of ServiceInfo2 structures that contains the NodeID, NodeName, Name, RootObjectType, RootObjectImplements, ConnectionURL (list), and the Attributes. The attributes entry is type varvalue{string} but should only contain type string and numeric entries. This is used to help identify the correct service to connect to. Service attributes are set through the ServerContext object that is returned when a service is registered. A short example:

Nodes can also be searched for by “NodeID” and “NodeName” separate from services. Use FindNodeByID and FindNodeByName in RobotRaconteurNode. These will return the “NodeID”, “NodeName”, and the possible “ConnectionURLs” without the query portion.

ServiceInfo2Subscription continuosly tracks available services, and generally provides better results than FindServiceByType since it will detect services as they become available.