¿Cómo ver los contratos que se incluyen en un ensamblado (assembly)?

Me hice esta pregunta cuando estaba buscando la definición del contrato genérico para el SONAR, que de hecho se incluye en el ensamblado RoboticsCommon.dll. Todos los contratos genéricos que uso se definen en esta dll. El comando DssInfo se puede usar para obtener información de los servicios implementado en estos archivos:

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

Con el siguiente parámetro también se pueden ver las operaciones asociadas a cada servicio:

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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