add verbose in service-info verb

ros2cli/ros2cli/daemon/__init__.py

@@ -91,7 +91,9 @@ 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_client_names_and_types_by_node,
+            node.get_clients_info_by_service,
             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,

ros2cli/test/test_daemon.py

@@ -18,6 +18,7 @@
 
 import rclpy
 import rclpy.action
+from rclpy.topic_endpoint_info import TopicEndpointTypeEnum
 
 from ros2cli.node.daemon import DaemonNode
 from ros2cli.node.daemon import is_daemon_running
@@ -44,6 +45,16 @@
     durability=rclpy.qos.DurabilityPolicy.VOLATILE,
     depth=1
 )
+TEST_SRV_CLIENT_QOS = rclpy.qos.QoSProfile(
+    reliability=rclpy.qos.ReliabilityPolicy.RELIABLE,
+    durability=rclpy.qos.DurabilityPolicy.VOLATILE,
+    depth=1
+)
+TEST_SRV_SERVICE_QOS = rclpy.qos.QoSProfile(
+    reliability=rclpy.qos.ReliabilityPolicy.BEST_EFFORT,
+    durability=rclpy.qos.DurabilityPolicy.VOLATILE,
+    depth=1
+)
 TEST_SERVICE_NAME = '/test/service'
 TEST_SERVICE_TYPE = 'test_msgs/srv/Empty'
 TEST_ACTION_NAME = '/test/action'
@@ -70,11 +81,13 @@ def local_node():
     service = node.create_service(
         srv_type=test_msgs.srv.Empty,
         srv_name=TEST_SERVICE_NAME,
+        qos_profile=TEST_SRV_SERVICE_QOS,
         callback=(lambda req, res: res)
     )
     client = node.create_client(
         srv_type=test_msgs.srv.Empty,
-        srv_name=TEST_SERVICE_NAME
+        srv_name=TEST_SERVICE_NAME,
+        qos_profile=TEST_SRV_CLIENT_QOS
     )
 
     def noop_execute_callback(goal_handle):
@@ -231,6 +244,40 @@ def test_get_subscriptions_info_by_topic(daemon_node):
         TEST_TOPIC_SUBSCRIPTION_QOS.reliability
 
 
+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
+    for client_info in clients_info:
+        assert client_info.node_name == TEST_NODE_NAME
+        assert client_info.node_namespace == TEST_NODE_NAMESPACE
+        assert client_info.qos_profile.durability == \
+            TEST_SRV_CLIENT_QOS.durability
+        assert client_info.qos_profile.reliability == \
+            TEST_SRV_CLIENT_QOS.reliability
+        assert TEST_SERVICE_TYPE in client_info.topic_type
+        if TEST_SERVICE_TYPE + '_Request' == client_info.topic_type:
+            client_info.endpoint_type == TopicEndpointTypeEnum.PUBLISHER
+        elif TEST_SERVICE_TYPE + '_Response' == client_info.topic_type:
+            client_info.endpoint_type == TopicEndpointTypeEnum.SUBSCRIPTION
+
+
+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
+    for server_info in servers_info:
+        assert server_info.node_name == TEST_NODE_NAME
+        assert server_info.node_namespace == TEST_NODE_NAMESPACE
+        assert server_info.qos_profile.durability == \
+            TEST_SRV_SERVICE_QOS.durability
+        assert server_info.qos_profile.reliability == \
+            TEST_SRV_SERVICE_QOS.reliability
+        assert TEST_SERVICE_TYPE in server_info.topic_type
+        if TEST_SERVICE_TYPE + '_Request' == server_info.topic_type:
+            server_info.endpoint_type == TopicEndpointTypeEnum.SUBSCRIPTION
+        elif TEST_SERVICE_TYPE + '_Response' == server_info.topic_type:
+            server_info.endpoint_type == TopicEndpointTypeEnum.PUBLISHER
+
+
 def test_count_publishers(daemon_node):
     assert 1 == daemon_node.count_publishers(TEST_TOPIC_NAME)
 

ros2service/ros2service/verb/info.py

@@ -27,6 +27,13 @@ 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, topic type, '
+                 'topic type hash, GUID, and QoS Profile of the clients and servers to '
+                 'this service')
         arg.completer = ServiceNameCompleter(
             include_hidden_services_key='include_hidden_services')
 
@@ -44,11 +51,29 @@ 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')
+                  node.count_clients(service_name), end=line_end)
+            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')
+                  node.count_services(service_name), end=line_end)
+            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)