Add Service report similar to topic report (#1059)

* init

Signed-off-by: Michael Carlstrom <[email protected]>

* remove commited build

Signed-off-by: Michael Carlstrom <[email protected]>

* fix function name

Signed-off-by: Michael Carlstrom <[email protected]>

* Get unit test working

Signed-off-by: Michael Carlstrom <[email protected]>

* Update ros2doctor/ros2doctor/api/service.py

Co-authored-by: Tomoya Fujita <[email protected]>
Signed-off-by: Michael Carlstrom <[email protected]>

* requested changes

Signed-off-by: Michael Carlstrom <[email protected]>

* Update test name

Signed-off-by: Michael Carlstrom <[email protected]>

* skip test_report for rmw_zenoh_cpp.

Signed-off-by: Tomoya Fujita <[email protected]>

* Remove zip strict

Signed-off-by: Michael Carlstrom <[email protected]>

---------

Signed-off-by: Michael Carlstrom <[email protected]>
Signed-off-by: Tomoya Fujita <[email protected]>
Co-authored-by: Tomoya Fujita <[email protected]>

Author: InvincibleRMC

ros2cli/ros2cli/node/direct.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 import os
+from typing import Optional
 
 import rclpy
 import rclpy.action
@@ -24,7 +25,7 @@
 
 class DirectNode:
 
-    def __init__(self, args, *, node_name=None):
+    def __init__(self, args, *, node_name: Optional[str] = None):
         timeout_reached = False
 
         def timer_callback():

ros2doctor/package.xml

@@ -36,6 +36,7 @@
   <test_depend>python3-pytest</test_depend>
   <test_depend>python3-pytest-timeout</test_depend>
   <test_depend>std_msgs</test_depend>
+  <test_depend>std_srvs</test_depend>
 
   <export>
     <build_type>ament_python</build_type>

ros2doctor/ros2doctor/api/__init__.py

@@ -15,6 +15,7 @@
 from typing import List
 from typing import Set
 from typing import Tuple
+from typing import Union
 
 try:
     import importlib.metadata as importlib_metadata
@@ -57,12 +58,20 @@ class Report:
     def __init__(self, name: str):
         """Initialize with report name."""
         self.name = name
-        self.items = []
+        self.items: List[Tuple[str, Union[str, int]]] = []
 
-    def add_to_report(self, item_name: str, item_info: str) -> None:
+    def add_to_report(self, item_name: str, item_info: Union[int, str]) -> None:
         """Add report content to items list (list of string tuples)."""
         self.items.append((item_name, item_info))
 
+    def __eq__(self, other: object) -> bool:
+        if not isinstance(other, Report):
+            return False
+        return self.name == other.name and self.items == other.items
+
+    def __str__(self) -> str:
+        return f'{self.name} Report, Items: {self.items}'
+
 
 class Result:
     """Stores check result."""
@@ -163,12 +172,23 @@ def generate_reports(*, categories=None, exclude_packages=False) -> List[Report]
     return reports
 
 
-def get_topic_names(skip_topics: List = ()) -> List:
+def get_topic_names(skip_topics: List[str] = []) -> List[str]:
     """Get all topic names using rclpy API."""
-    topics = []
+    topics: List[str] = []
     with NodeStrategy(None) as node:
         topic_names_types = node.get_topic_names_and_types()
         for t_name, _ in topic_names_types:
             if t_name not in skip_topics:
                 topics.append(t_name)
     return topics
+
+
+def get_service_names(skip_services: List[str] = []) -> List[str]:
+    """Get all service names using rclpy API."""
+    services: List[str] = []
+    with NodeStrategy(None) as node:
+        service_names_types = node.get_service_names_and_types()
+        for t_name, _ in service_names_types:
+            if t_name not in skip_services:
+                services.append(t_name)
+    return services

ros2doctor/ros2doctor/api/service.py

@@ -0,0 +1,41 @@
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# 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 typing import Literal
+
+from ros2cli.node.direct import DirectNode
+from ros2doctor.api import DoctorReport
+from ros2doctor.api import get_service_names
+from ros2doctor.api import Report
+
+
+class ServiceReport(DoctorReport):
+    """Report service related information."""
+
+    def category(self) -> Literal['topic']:
+        return 'topic'
+
+    def report(self) -> Report:
+        report = Report('SERVICE LIST')
+        to_be_reported = get_service_names()
+        if not to_be_reported:
+            report.add_to_report('service', 'none')
+            report.add_to_report('service count', 0)
+            report.add_to_report('client count', 0)
+        with DirectNode(None) as node:
+            for service_name in to_be_reported:
+                report.add_to_report('service', service_name)
+                report.add_to_report('service count', node.node.count_services(service_name))
+                report.add_to_report('client count', node.node.count_clients(service_name))
+        return report

ros2doctor/setup.py

@@ -51,6 +51,7 @@
             'NetworkReport = ros2doctor.api.network:NetworkReport',
             'RMWReport = ros2doctor.api.rmw:RMWReport',
             'TopicReport = ros2doctor.api.topic:TopicReport',
+            'ServiceReport = ros2doctor.api.service:ServiceReport',
             'QoSCompatibilityReport = ros2doctor.api.qos_compatibility:QoSCompatibilityReport',
             'PackageReport = ros2doctor.api.package:PackageReport',
         ],

ros2doctor/test/common.py

@@ -0,0 +1,35 @@
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# 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 typing import Iterable
+
+from ros2doctor.api import Report
+
+
+def generate_expected_topic_report(topic: str, pub_count: int, sub_count: int) -> Report:
+    expected_report = Report('TOPIC LIST')
+    expected_report.add_to_report('topic', topic)
+    expected_report.add_to_report('publisher count', pub_count)
+    expected_report.add_to_report('subscriber count', sub_count)
+    return expected_report
+
+
+def generate_expected_service_report(services: Iterable[str], serv_counts: Iterable[int],
+                                     cli_counts: Iterable[int]) -> Report:
+    expected_report = Report('SERVICE LIST')
+    for service, serv_count, cli_count in zip(services, serv_counts, cli_counts):
+        expected_report.add_to_report('service', service)
+        expected_report.add_to_report('service count', serv_count)
+        expected_report.add_to_report('client count', cli_count)
+    return expected_report

ros2doctor/test/fixtures/report_node.py

@@ -0,0 +1,44 @@
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+import rclpy
+from rclpy.executors import ExternalShutdownException
+from rclpy.node import Node
+
+from std_msgs.msg import String
+from std_srvs.srv import SetBool
+
+
+class ReportTestNode(Node):
+
+    def __init__(self):
+        # Disable all extraneous node services to simplify the test
+        super().__init__('report_node', start_parameter_services=False)
+        self.create_publisher(String, 'msg', 10)
+        self.create_subscription(String, 'msg', lambda msg: None, 10)
+        self.create_client(SetBool, 'baz')
+        self.create_service(SetBool, 'bar', lambda req, res: res)
+
+
+def main():
+    try:
+        with rclpy.init():
+            node = ReportTestNode()
+            rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        print('report_test_node stopped cleanly')
+
+
+if __name__ == '__main__':
+    main()

ros2doctor/test/test_api.py

@@ -14,6 +14,9 @@
 
 import unittest
 
+from common import generate_expected_service_report
+from common import generate_expected_topic_report
+
 from launch import LaunchDescription
 from launch.actions import ExecuteProcess
 
@@ -22,14 +25,14 @@
 
 import pytest
 
-from ros2doctor.api import Report
+from ros2doctor.api.service import ServiceReport
 from ros2doctor.api.topic import TopicCheck
 from ros2doctor.api.topic import TopicReport
 
 
 @pytest.mark.rostest
 @launch_testing.markers.keep_alive
-def generate_test_description():
+def generate_test_description() -> LaunchDescription:
     return LaunchDescription([
         ExecuteProcess(
             cmd=['ros2', 'daemon', 'stop'],
@@ -47,14 +50,6 @@ def generate_test_description():
     ])
 
 
-def _generate_expected_report(topic, pub_count, sub_count):
-    expected_report = Report('TOPIC LIST')
-    expected_report.add_to_report('topic', topic)
-    expected_report.add_to_report('publisher count', pub_count)
-    expected_report.add_to_report('subscriber count', sub_count)
-    return expected_report
-
-
 class TestROS2DoctorAPI(unittest.TestCase):
 
     def test_topic_check(self):
@@ -64,9 +59,18 @@ def test_topic_check(self):
         self.assertEqual(check_result.error, 0)
         self.assertEqual(check_result.warning, 0)
 
-    def test_topic_report(self):
+    def test_no_topic_report(self):
         """Assume no topics are publishing or subscribing other than whitelisted ones."""
         report = TopicReport().report()
-        expected_report = _generate_expected_report('none', 0, 0)
+        expected_report = generate_expected_topic_report('none', 0, 0)
+        self.assertEqual(report.name, expected_report.name)
+        self.assertEqual(report.items, expected_report.items)
+        self.assertEqual(report, expected_report)
+
+    def test_no_service_report(self):
+        """Assume no services are being used other than whitelisted ones."""
+        report = ServiceReport().report()
+        expected_report = generate_expected_service_report(['none'], [0], [0])
         self.assertEqual(report.name, expected_report.name)
         self.assertEqual(report.items, expected_report.items)
+        self.assertEqual(report, expected_report)