How to retrieve service contracts and operations from a service assembly?

I came to this question when looking for the generic contract for SONAR. It is actually defined in the assembly RoboticsCommon.dll. All the generic contracts I use are defined in this assembly, and the command DssInfo can be used to retrieve this information:

C:\Microsoft Robotics Studio (1.5)\bin>dssinfo /v:m RoboticsCommon.dll
Reflecting: RoboticsCommon.dll

    Service:                    DriveDifferentialTwoWheel
      DssContract:              http://schemas.microsoft.com/robotics/2006/05/drive.html
      Namespace:                Microsoft.Robotics.Services.Drive
    -------------------------- -----------------------------------------------

    Contract Only:              Generic Battery
      DssContract:              http://schemas.microsoft.com/2006/06/battery.html
      Namespace:                Microsoft.Robotics.Services.Battery

    Contract Only:              Cross Service Coordination Helper
      DssContract:              http://schemas.microsoft.com/robotics/2006/07/coordination.html
      Namespace:                Microsoft.Robotics.Services.Coordination

    Contract Only:              Generic Analog Sensor
      DssContract:              http://schemas.microsoft.com/robotics/2006/06/analogsensor.html
      Namespace:                Microsoft.Robotics.Services.AnalogSensor

    Contract Only:              Generic Encoder
      DssContract:              http://schemas.microsoft.com/robotics/2006/05/encoder.html
      Namespace:                Microsoft.Robotics.Services.Encoder

    Contract Only:              Generic Motor
      DssContract:              http://schemas.microsoft.com/robotics/2006/05/motor.html
      Namespace:                Microsoft.Robotics.Services.Motor

    Contract Only:              http://schemas.microsoft.com/robotics/mscategories.html
      DssContract:              http://schemas.microsoft.com/robotics/mscategories.html
      Namespace:                Microsoft.Robotics.Services

    Contract Only:              http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html
      DssContract:              http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html
      Namespace:                Microsoft.Robotics.PhysicalModel

    Contract Only:              Generic WebCam
      DssContract:              http://schemas.microsoft.com/robotics/2006/05/webcamservice.html
      Namespace:                Microsoft.Robotics.Services.WebCam

    Contract Only:              Generic Sonar
      DssContract:              http://schemas.microsoft.com/robotics/2006/06/sonar.html
      Namespace:                Microsoft.Robotics.Services.Sonar

    Contract Only:              Generic Stream
      DssContract:              http://schemas.microsoft.com/robotics/generic/2006/12/dssstream.html
      Namespace:                Microsoft.Robotics.Services.DssStream

And operations can be inspected using the following flag:

C:\Microsoft Robotics Studio (1.5)\bin>dssinfo /v:n RoboticsCommon.dll
Reflecting:                     RoboticsCommon.dll
DSS CONTRACT
Verbosity                       ShowWarnings
Assembly:                       c:\microsoft robotics studio (1.5)\bin\roboticscommon.dll

    Service:                    DriveDifferentialTwoWheel
      DssContract:              http://schemas.microsoft.com/robotics/2006/05/drive.html
      Namespace:                Microsoft.Robotics.Services.Drive
      ServicePrefix:            /DriveDifferentialTwoWheel
      Singleton:                False
      Partner(s):
        [InitialStatePartner]
        CreateAlways            http://schemas.microsoft.com/xw/2005/01/subscriptionmanager.html
        UsePartnerListEntry     http://schemas.microsoft.com/robotics/2006/05/motor.html
        UsePartnerListEntry     http://schemas.microsoft.com/robotics/2006/05/motor.html
        [UsePartnerListEntry]   http://schemas.microsoft.com/robotics/2006/05/encoder.html
        [UsePartnerListEntry]   http://schemas.microsoft.com/robotics/2006/05/encoder.html
      ServicePort:              DriveOperations
        Lookup:                 DsspDefaultLookup
        Drop:                   DsspDefaultDrop
        Get:                    HttpGet
        Submit:                 HttpPost
        Subscribe:              ReliableSubscribe
        Subscribe:              Subscribe
        Get:                    Get
        Update:                 Update
        Update:                 EnableDrive
        Update:                 SetDrivePower
        Update:                 SetDriveSpeed
        Update:                 RotateDegrees
        Update:                 DriveDistance
        Update:                 AllStop
    -------------------------- -----------------------------------------------

    Contract Only:              Generic Analog Sensor Array
      DssContract:              http://schemas.microsoft.com/robotics/2006/06/analogsensorarray.html
      Namespace:                Microsoft.Robotics.Services.AnalogSensorArray
      Singleton:                True
      ServicePort:              AnalogSensorOperations
        Lookup:                 DsspDefaultLookup
        Drop:                   DsspDefaultDrop
        Get:                    Get
        Replace:                Replace
        Subscribe:              ReliableSubscribe
        Subscribe:              Subscribe

    Contract Only:              Generic Articulated Arm
      DssContract:              http://schemas.microsoft.com/2006/06/articulatedarm.html
      Namespace:                Microsoft.Robotics.Services.ArticulatedArm
      Singleton:                True
      ServicePort:              ArticulatedArmOperations
        Lookup:                 DsspDefaultLookup
        Drop:                   DsspDefaultDrop
        Get:                    Get
        Replace:                Replace
        Update:                 SetJointTargetPose
        Update:                 SetJointTargetVelocity
        Update:                 SetEndEffectorPose
        Query:                  GetEndEffectorPose
        Subscribe:              ReliableSubscribe
        Subscribe:              Subscribe

    Contract Only:              Generic Battery
      DssContract:              http://schemas.microsoft.com/2006/06/battery.html
      Namespace:                Microsoft.Robotics.Services.Battery
      Singleton:                True
      ServicePort:              BatteryOperations
        Lookup:                 DsspDefaultLookup
        Drop:                   DsspDefaultDrop
        Get:                    Get
        Replace:                Replace
        Subscribe:              Subscribe
        Update:                 SetCriticalLevel

    Contract Only:              Generic Contact Sensors
      DssContract:              http://schemas.microsoft.com/2006/06/contactsensor.html
      Namespace:                Microsoft.Robotics.Services.ContactSensor
      Singleton:                True
      ServicePort:              ContactSensorArrayOperations
        Lookup:                 DsspDefaultLookup
        Drop:                   DsspDefaultDrop
        Get:                    Get
        Replace:                Replace
        Update:                 Update                          ContactSensorUp
                                dated
        Subscribe:              ReliableSubscribe
        Subscribe:              Subscribe
        Get:                    HttpGet

[...]

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