update service info verbose option

Signed-off-by: Minju, Lee <[email protected]>

Author: leeminju531

ros2cli/ros2cli/daemon/__init__.py

@@ -91,6 +91,8 @@ def serve(server: LocalXMLRPCServer, *, timeout: int = 2 * 60 * 60):
             node.get_subscriber_names_and_types_by_node,
             node.get_subscriptions_info_by_topic,
             node.get_service_names_and_types_by_node,
+            node.get_servers_info_by_service,
+            node.get_clients_info_by_service,
             node.get_client_names_and_types_by_node,
             bind(rclpy.action.get_action_server_names_and_types_by_node, node),
             bind(rclpy.action.get_action_client_names_and_types_by_node, node),

ros2cli/ros2cli/xmlrpc/marshal/rclpy.py

@@ -17,8 +17,8 @@
 from xmlrpc.client import Unmarshaller
 
 import rclpy.duration
+import rclpy.endpoint_info
 import rclpy.qos
-import rclpy.topic_endpoint_info
 import rclpy.type_hash
 
 from .generic import dump_any_enum
@@ -66,16 +66,22 @@ def dump_duration(marshaller, value, write):
     Marshaller.dispatch[enum_type] = dump_any_enum
 
 
-Unmarshaller.dispatch[fullname(rclpy.topic_endpoint_info.TopicEndpointInfo)] = \
-    functools.partial(end_any_with_slots, type_=rclpy.topic_endpoint_info.TopicEndpointInfo)
+Unmarshaller.dispatch[fullname(rclpy.endpoint_info.TopicEndpointInfo)] = \
+    functools.partial(end_any_with_slots, type_=rclpy.endpoint_info.TopicEndpointInfo)
 
-Marshaller.dispatch[rclpy.topic_endpoint_info.TopicEndpointInfo] = \
+Marshaller.dispatch[rclpy.endpoint_info.TopicEndpointInfo] = \
     functools.partial(dump_any_with_slots, transform=lambda slot: slot.lstrip('_'))
 
-Unmarshaller.dispatch[fullname(rclpy.topic_endpoint_info.TopicEndpointTypeEnum)] = \
-    functools.partial(end_any_enum, enum_=rclpy.topic_endpoint_info.TopicEndpointTypeEnum)
+Unmarshaller.dispatch[fullname(rclpy.endpoint_info.ServiceEndpointInfo)] = \
+    functools.partial(end_any_with_slots, type_=rclpy.endpoint_info.ServiceEndpointInfo)
 
-Marshaller.dispatch[rclpy.topic_endpoint_info.TopicEndpointTypeEnum] = dump_any_enum
+Marshaller.dispatch[rclpy.endpoint_info.ServiceEndpointInfo] = \
+    functools.partial(dump_any_with_slots, transform=lambda slot: slot.lstrip('_'))
+
+Unmarshaller.dispatch[fullname(rclpy.endpoint_info.EndpointTypeEnum)] = \
+    functools.partial(end_any_enum, enum_=rclpy.endpoint_info.EndpointTypeEnum)
+
+Marshaller.dispatch[rclpy.endpoint_info.EndpointTypeEnum] = dump_any_enum
 
 
 def end_type_hash(unmarshaller, data):

ros2cli/test/test_ros2cli_daemon.py

@@ -18,6 +18,7 @@
 
 import rclpy
 import rclpy.action
+from rclpy.endpoint_info import EndpointTypeEnum
 
 from ros2cli.node.daemon import DaemonNode
 from ros2cli.node.daemon import is_daemon_running
@@ -45,6 +46,8 @@
     history=rclpy.qos.HistoryPolicy.KEEP_LAST,
     depth=8
 )
+TEST_SERVICE_CLIENT_QOS = TEST_TOPIC_PUBLISHER_QOS
+TEST_SERVICE_SERVER_QOS = TEST_TOPIC_SUBSCRIPTION_QOS
 TEST_SERVICE_NAME = '/test/service'
 TEST_SERVICE_TYPE = 'test_msgs/srv/Empty'
 TEST_ACTION_NAME = '/test/action'
@@ -73,12 +76,14 @@ def local_node():
         service = node.create_service(
             srv_type=test_msgs.srv.Empty,
             srv_name=TEST_SERVICE_NAME,
-            callback=(lambda req, res: res)
+            callback=(lambda req, res: res),
+            qos_profile=TEST_SERVICE_SERVER_QOS
         )
         service  # to avoid "assigned by never used" warning
         client = node.create_client(
             srv_type=test_msgs.srv.Empty,
-            srv_name=TEST_SERVICE_NAME
+            srv_name=TEST_SERVICE_NAME,
+            qos_profile=TEST_SERVICE_CLIENT_QOS
         )
         client  # to avoid "assigned by never used" warning
 
@@ -235,6 +240,42 @@ def test_get_subscriptions_info_by_topic(daemon_node):
         TEST_TOPIC_SUBSCRIPTION_QOS.depth
 
 
+def test_get_clients_info_by_service(daemon_node):
+    clients_info = daemon_node.get_clients_info_by_service(TEST_SERVICE_NAME)
+    assert len(clients_info) == 1
+    test_client_info = clients_info[0]
+    assert test_client_info.node_name == TEST_NODE_NAME
+    assert test_client_info.node_namespace == TEST_NODE_NAMESPACE
+    assert test_client_info.service_type == TEST_SERVICE_TYPE
+    assert test_client_info.endpoint_type == EndpointTypeEnum.CLIENT
+    assert (test_client_info.endpoint_count == 1 or test_client_info.endpoint_count == 2)
+    assert len(test_client_info.qos_profiles) == test_client_info.endpoint_count
+    assert len(test_client_info.endpoint_gids) == test_client_info.endpoint_count
+    for i in range(test_client_info.endpoint_count):
+        assert test_client_info.qos_profiles[i].durability == \
+            TEST_SERVICE_CLIENT_QOS.durability
+        assert test_client_info.qos_profiles[i].reliability == \
+            TEST_SERVICE_CLIENT_QOS.reliability
+
+
+def test_get_servers_info_by_service(daemon_node):
+    servers_info = daemon_node.get_servers_info_by_service(TEST_SERVICE_NAME)
+    assert len(servers_info) == 1
+    test_server_info = servers_info[0]
+    assert test_server_info.node_name == TEST_NODE_NAME
+    assert test_server_info.node_namespace == TEST_NODE_NAMESPACE
+    assert test_server_info.service_type == TEST_SERVICE_TYPE
+    assert test_server_info.endpoint_type == EndpointTypeEnum.SERVER
+    assert (test_server_info.endpoint_count == 1 or test_server_info.endpoint_count == 2)
+    assert len(test_server_info.qos_profiles) == test_server_info.endpoint_count
+    assert len(test_server_info.endpoint_gids) == test_server_info.endpoint_count
+    for i in range(test_server_info.endpoint_count):
+        assert test_server_info.qos_profiles[i].durability == \
+            TEST_SERVICE_SERVER_QOS.durability
+        assert test_server_info.qos_profiles[i].reliability == \
+            TEST_SERVICE_SERVER_QOS.reliability
+
+
 def test_count_publishers(daemon_node):
     assert 1 == daemon_node.count_publishers(TEST_TOPIC_NAME)
 

ros2service/ros2service/verb/info.py

@@ -1,4 +1,5 @@
 # Copyright 2022 CLOBOT Co., Ltd.
+# Copyright 2025 Minju Lee (이민주). All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -27,6 +28,13 @@ def add_arguments(self, parser, cli_name):
         arg = parser.add_argument(
             'service_name',
             help="Name of the ROS service to get info (e.g. '/add_two_ints')")
+        parser.add_argument(
+            '--verbose',
+            '-v',
+            action='store_true',
+            help='Prints detailed information like the node name, node namespace, service type, '
+                 'service type hash, GUIDs, and QoS Profiless of the clients and servers to '
+                 'this service')
         arg.completer = ServiceNameCompleter(
             include_hidden_services_key='include_hidden_services')
 
@@ -44,11 +52,30 @@ def main(self, *, args):
             else:
                 return "Unknown service '%s'" % service_name
 
+            line_end = '\n'
+            if args.verbose:
+                line_end = '\n\n'
+
             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')
 
+            if args.verbose:
+                try:
+                    for info in node.get_clients_info_by_service(service_name):
+                        print(info, end=line_end)
+
+                except NotImplementedError as e:
+                    return str(e)
+
             print('Services count: %d' %
                   node.count_services(service_name), end='\n')
+            if args.verbose:
+                try:
+                    for info in node.get_servers_info_by_service(service_name):
+                        print(info, end=line_end)
+
+                except NotImplementedError as e:
+                    return str(e)