Add ros2 service info (#771)

Signed-off-by: leeminju531 <[email protected]>

ros2cli/ros2cli/daemon/__init__.py

@@ -95,7 +95,9 @@ def serve(server, *, timeout=2 * 60 * 60):
                 bind(rclpy.action.get_action_server_names_and_types_by_node, node),
                 bind(rclpy.action.get_action_client_names_and_types_by_node, node),
                 node.count_publishers,
-                node.count_subscribers
+                node.count_subscribers,
+                node.count_clients,
+                node.count_services
             ]
 
             server.register_introspection_functions()

ros2cli/test/test_daemon.py

@@ -237,3 +237,11 @@ def test_count_publishers(daemon_node):
 
 def test_count_subscribers(daemon_node):
     assert 1 == daemon_node.count_subscribers(TEST_TOPIC_NAME)
+
+
+def test_count_clients(daemon_node):
+    assert 1 == daemon_node.count_clients(TEST_SERVICE_NAME)
+
+
+def test_count_services(daemon_node):
+    assert 1 == daemon_node.count_services(TEST_SERVICE_NAME)

ros2service/ros2service/verb/info.py

@@ -0,0 +1,54 @@
+# Copyright 2022 CLOBOT Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
+from ros2cli.node.strategy import NodeStrategy
+from ros2service.api import get_service_names_and_types
+from ros2service.api import ServiceNameCompleter
+from ros2topic.verb import VerbExtension
+
+
+class InfoVerb(VerbExtension):
+    """Print information about a service."""
+
+    def add_arguments(self, parser, cli_name):
+        add_strategy_node_arguments(parser)
+        arg = parser.add_argument(
+            'service_name',
+            help="Name of the ROS service to get info (e.g. '/add_two_ints')")
+        arg.completer = ServiceNameCompleter(
+            include_hidden_services_key='include_hidden_services')
+
+    def main(self, *, args):
+        with NodeStrategy(args) as node:
+            service_names_and_types = get_service_names_and_types(
+                node=node,
+                include_hidden_services=args.include_hidden_services)
+            service_name = args.service_name
+
+            for (s_name, s_types) in service_names_and_types:
+                if s_name == service_name:
+                    service_types = s_types
+                    break
+            else:
+                return "Unknown service '%s'" % service_name
+
+            type_str = service_types[0] if len(service_types) == 1 else service_types
+            print('Type: %s' % type_str, end='\n')
+
+            print('Clients count: %d' %
+                  node.count_clients(service_name), end='\n')
+
+            print('Services count: %d' %
+                  node.count_services(service_name), end='\n')

ros2service/setup.py

@@ -43,6 +43,7 @@
             'call = ros2service.verb.call:CallVerb',
             'echo = ros2service.verb.echo:EchoVerb',
             'find = ros2service.verb.find:FindVerb',
+            'info = ros2service.verb.info:InfoVerb',
             'list = ros2service.verb.list:ListVerb',
             'type = ros2service.verb.type:TypeVerb',
         ],