support ""ros2 action info (-v)" with ActionEndpointInfo.

ros2action/ros2action/verb/info.py

@@ -15,24 +15,35 @@
 import rclpy
 from ros2action.api import action_name_completer
 from ros2action.api import get_action_clients_and_servers
+from ros2action.api import get_action_names_and_types
 from ros2action.verb import VerbExtension
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from ros2cli.node.strategy import NodeStrategy
 
 
 class InfoVerb(VerbExtension):
     """Print information about an action."""
 
     def add_arguments(self, parser, cli_name):
+        add_strategy_node_arguments(parser)
         arg = parser.add_argument(
             'action_name',
             help="Name of the ROS action to get info (e.g. '/fibonacci')")
         arg.completer = action_name_completer
         parser.add_argument(
             '-t', '--show-types', action='store_true',
-            help='Additionally show the action type')
+            help='Additionally show the action type next to each listed '
+                 'action client and action server')
         parser.add_argument(
             '-c', '--count', action='store_true',
             help='Only display the number of action clients and action servers')
+        parser.add_argument(
+            '--verbose',
+            '-v',
+            action='store_true',
+            help='Prints detailed information for each action client and action server of '
+                 'this action, including the endpoint information of the underlying goal, '
+                 'cancel, and result services and feedback and status topics')
 
     def main(self, *, args):
         with NodeStrategy(args) as node:
@@ -44,20 +55,49 @@ def main(self, *, args):
             except (ValueError, rclpy.exceptions.InvalidTopicNameException) as e:
                 raise RuntimeError(e)
 
-        print('Action: {}'.format(args.action_name))
-        print('Action clients: {}'.format(len(action_clients)))
-        if not args.count:
-            for client_name, client_types in action_clients:
-                if args.show_types:
-                    types_formatted = ', '.join(client_types)
-                    print(f'    {client_name} [{types_formatted}]')
+            action_names_and_types = get_action_names_and_types(node=node)
+            action_types = None
+            for (a_name, a_types) in action_names_and_types:
+                if a_name == args.action_name:
+                    action_types = a_types
+                    break
+
+            line_end = '\n'
+            if args.verbose:
+                line_end = '\n\n'
+
+            print('Action: {}'.format(args.action_name))
+            if action_types is not None:
+                print('Type: %s' % ', '.join(action_types))
+
+            print('Action clients: {}'.format(len(action_clients)))
+            if not args.count:
+                if args.verbose:
+                    try:
+                        for info in node.get_action_clients_info_by_action(args.action_name):
+                            print(info, end=line_end)
+                    except NotImplementedError as e:
+                        return str(e)
                 else:
-                    print(f'    {client_name}')
-        print('Action servers: {}'.format(len(action_servers)))
-        if not args.count:
-            for server_name, server_types in action_servers:
-                if args.show_types:
-                    types_formatted = ', '.join(server_types)
-                    print(f'    {server_name} [{types_formatted}]')
+                    for client_name, client_types in action_clients:
+                        if args.show_types:
+                            types_formatted = ', '.join(client_types)
+                            print(f'    {client_name} [{types_formatted}]')
+                        else:
+                            print(f'    {client_name}')
+
+            print('Action servers: {}'.format(len(action_servers)))
+            if not args.count:
+                if args.verbose:
+                    try:
+                        for info in node.get_action_servers_info_by_action(args.action_name):
+                            print(info, end=line_end)
+                    except NotImplementedError as e:
+                        return str(e)
                 else:
-                    print(f'    {server_name}')
+                    for server_name, server_types in action_servers:
+                        if args.show_types:
+                            types_formatted = ', '.join(server_types)
+                            print(f'    {server_name} [{types_formatted}]')
+                        else:
+                            print(f'    {server_name}')

ros2action/test/test_cli.py

@@ -172,6 +172,7 @@ def test_fibonacci_info(self):
         assert launch_testing.tools.expect_output(
             expected_lines=[
                 'Action: /test/fibonacci',
+                'Type: test_msgs/action/Fibonacci',
                 'Action clients: 0',
                 'Action servers: 1',
                 '  /test/fibonacci_action_server'
@@ -189,6 +190,7 @@ def test_fibonacci_info_with_types(self):
         assert launch_testing.tools.expect_output(
             expected_lines=[
                 'Action: /test/fibonacci',
+                'Type: test_msgs/action/Fibonacci',
                 'Action clients: 0',
                 'Action servers: 1',
                 '  /test/fibonacci_action_server [test_msgs/action/Fibonacci]'
@@ -206,13 +208,68 @@ def test_fibonacci_info_count(self):
         assert launch_testing.tools.expect_output(
             expected_lines=[
                 'Action: /test/fibonacci',
+                'Type: test_msgs/action/Fibonacci',
                 'Action clients: 0',
                 'Action servers: 1',
             ],
             text=action_command.output,
             strict=False
         )
 
+    @launch_testing.markers.retry_on_failure(times=5, delay=1)
+    def test_fibonacci_info_verbose(self):
+        with self.launch_action_command(
+                arguments=['info', '-v', '/test/fibonacci']) as action_command:
+            assert action_command.wait_for_shutdown(timeout=10)
+        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                'Action: /test/fibonacci',
+                'Type: test_msgs/action/Fibonacci',
+                'Action clients: 0',
+                'Action servers: 1',
+                'Node name: fibonacci_action_server',
+                'Node namespace: /test',
+                'Action type: test_msgs/action/Fibonacci',
+                'Endpoint type: SERVER',
+                'Goal service:',
+                '  Service type: test_msgs/action/Fibonacci_SendGoal',
+                re.compile(r'\s*Service type hash: RIHS01_[a-f0-9]{64}'),
+                re.compile(r'\s*Endpoint count: [12]'),
+                re.compile(r'\s*Reliability: RELIABLE'),
+                'Cancel service:',
+                '  Service type: action_msgs/srv/CancelGoal',
+                'Result service:',
+                '  Service type: test_msgs/action/Fibonacci_GetResult',
+                'Feedback topic:',
+                '  Topic type: test_msgs/action/Fibonacci_FeedbackMessage',
+                'Status topic:',
+                '  Topic type: action_msgs/msg/GoalStatusArray',
+                re.compile(r'\s*Durability: TRANSIENT_LOCAL'),
+            ],
+            text=action_command.output,
+            strict=False
+        )
+
+    @launch_testing.markers.retry_on_failure(times=5, delay=1)
+    def test_fibonacci_info_verbose_count(self):
+        with self.launch_action_command(
+                arguments=['info', '-v', '-c', '/test/fibonacci']) as action_command:
+            assert action_command.wait_for_shutdown(timeout=10)
+        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                'Action: /test/fibonacci',
+                'Type: test_msgs/action/Fibonacci',
+                'Action clients: 0',
+                'Action servers: 1',
+            ],
+            text=action_command.output,
+            strict=False
+        )
+        # The count option should suppress the detailed endpoint information
+        assert 'Node name:' not in action_command.output
+
     @launch_testing.markers.retry_on_failure(times=5, delay=1)
     def test_list(self):
         with self.launch_action_command(arguments=['list']) as action_command:

ros2cli/ros2cli/daemon/__init__.py

@@ -100,10 +100,14 @@ def serve(server: LocalXMLRPCServer, *, timeout: float = 2 * 60 * 60):
             node.get_client_names_and_types_by_node,
             node.get_action_server_names_and_types_by_node,
             node.get_action_client_names_and_types_by_node,
+            node.get_action_clients_info_by_action,
+            node.get_action_servers_info_by_action,
             node.count_publishers,
             node.count_subscribers,
             node.count_clients,
-            node.count_services
+            node.count_services,
+            node.count_action_clients,
+            node.count_action_servers
         ]
 
         # Dealing with the timeouts in this server is a bit tricky.  The caller

ros2cli/ros2cli/xmlrpc/marshal/rclpy.py

@@ -78,6 +78,12 @@ def dump_duration(marshaller, value, write):
 Marshaller.dispatch[rclpy.endpoint_info.ServiceEndpointInfo] = \
     functools.partial(dump_any_with_slots, transform=lambda slot: slot.lstrip('_'))
 
+Unmarshaller.dispatch[fullname(rclpy.endpoint_info.ActionEndpointInfo)] = \
+    functools.partial(end_any_with_slots, type_=rclpy.endpoint_info.ActionEndpointInfo)
+
+Marshaller.dispatch[rclpy.endpoint_info.ActionEndpointInfo] = \
+    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)
 

ros2cli/test/test_ros2cli_daemon.py

@@ -304,6 +304,54 @@ def test_get_servers_info_by_service(daemon_node):
             TEST_SERVICE_SERVER_QOS.reliability
 
 
+def test_get_action_clients_info_by_action(daemon_node):
+    clients_info = daemon_node.get_action_clients_info_by_action(TEST_ACTION_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.action_type == TEST_ACTION_TYPE
+    assert test_client_info.endpoint_type == EndpointTypeEnum.CLIENT
+    goal_info = test_client_info.goal_service_info
+    assert goal_info.service_type == TEST_ACTION_TYPE + '_SendGoal'
+    assert goal_info.endpoint_type == EndpointTypeEnum.CLIENT
+    assert (goal_info.endpoint_count == 1 or goal_info.endpoint_count == 2)
+    assert len(goal_info.qos_profiles) == goal_info.endpoint_count
+    assert len(goal_info.endpoint_gids) == goal_info.endpoint_count
+    assert test_client_info.cancel_service_info.service_type == 'action_msgs/srv/CancelGoal'
+    assert test_client_info.result_service_info.service_type == TEST_ACTION_TYPE + '_GetResult'
+    feedback_info = test_client_info.feedback_topic_info
+    assert feedback_info.topic_type == TEST_ACTION_TYPE + '_FeedbackMessage'
+    assert feedback_info.endpoint_type == EndpointTypeEnum.SUBSCRIPTION
+    status_info = test_client_info.status_topic_info
+    assert status_info.topic_type == 'action_msgs/msg/GoalStatusArray'
+    assert status_info.endpoint_type == EndpointTypeEnum.SUBSCRIPTION
+
+
+def test_get_action_servers_info_by_action(daemon_node):
+    servers_info = daemon_node.get_action_servers_info_by_action(TEST_ACTION_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.action_type == TEST_ACTION_TYPE
+    assert test_server_info.endpoint_type == EndpointTypeEnum.SERVER
+    goal_info = test_server_info.goal_service_info
+    assert goal_info.service_type == TEST_ACTION_TYPE + '_SendGoal'
+    assert goal_info.endpoint_type == EndpointTypeEnum.SERVER
+    assert (goal_info.endpoint_count == 1 or goal_info.endpoint_count == 2)
+    assert len(goal_info.qos_profiles) == goal_info.endpoint_count
+    assert len(goal_info.endpoint_gids) == goal_info.endpoint_count
+    assert test_server_info.cancel_service_info.service_type == 'action_msgs/srv/CancelGoal'
+    assert test_server_info.result_service_info.service_type == TEST_ACTION_TYPE + '_GetResult'
+    feedback_info = test_server_info.feedback_topic_info
+    assert feedback_info.topic_type == TEST_ACTION_TYPE + '_FeedbackMessage'
+    assert feedback_info.endpoint_type == EndpointTypeEnum.PUBLISHER
+    status_info = test_server_info.status_topic_info
+    assert status_info.topic_type == 'action_msgs/msg/GoalStatusArray'
+    assert status_info.endpoint_type == EndpointTypeEnum.PUBLISHER
+
+
 def test_count_publishers(daemon_node):
     assert 1 == daemon_node.count_publishers(TEST_TOPIC_NAME)
 
@@ -320,6 +368,14 @@ def test_count_services(daemon_node):
     assert 1 == daemon_node.count_services(TEST_SERVICE_NAME)
 
 
+def test_count_action_clients(daemon_node):
+    assert 1 == daemon_node.count_action_clients(TEST_ACTION_NAME)
+
+
+def test_count_action_servers(daemon_node):
+    assert 1 == daemon_node.count_action_servers(TEST_ACTION_NAME)
+
+
 def _wait_until(predicate, timeout):
     # Polling is_daemon_running() uses system.listMethods, which is not a
     # timer-resetting RPC, so it never keeps the daemon alive artificially.