From 41b5073db20d3cbe9efa754d26e6ab5b2e3c10e2 Mon Sep 17 00:00:00 2001
From: "Minju, Lee" <70446214+leeminju531@users.noreply.github.com>
Date: Mon, 16 Oct 2023 13:05:26 +0900
Subject: [PATCH] Add ros2 service info (#771)

Signed-off-by: leeminju531 <dlalswn531@naver.com>
---
 ros2cli/ros2cli/daemon/__init__.py   |  4 ++-
 ros2cli/test/test_daemon.py          |  8 +++++
 ros2service/ros2service/verb/info.py | 54 ++++++++++++++++++++++++++++
 ros2service/setup.py                 |  1 +
 4 files changed, 66 insertions(+), 1 deletion(-)
 create mode 100644 ros2service/ros2service/verb/info.py

diff --git a/ros2cli/ros2cli/daemon/__init__.py b/ros2cli/ros2cli/daemon/__init__.py
index 38a2fe5dc..d885e6aaa 100644
--- a/ros2cli/ros2cli/daemon/__init__.py
+++ b/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()
diff --git a/ros2cli/test/test_daemon.py b/ros2cli/test/test_daemon.py
index e94218d1d..ce05b1c5a 100644
--- a/ros2cli/test/test_daemon.py
+++ b/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)
diff --git a/ros2service/ros2service/verb/info.py b/ros2service/ros2service/verb/info.py
new file mode 100644
index 000000000..f640fd7a5
--- /dev/null
+++ b/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')
diff --git a/ros2service/setup.py b/ros2service/setup.py
index 74b3d6a40..c599ad0d3 100644
--- a/ros2service/setup.py
+++ b/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',
         ],