add : get clients, servers info

rmw_fastrtps_cpp/CMakeLists.txt

@@ -68,6 +68,7 @@ add_library(rmw_fastrtps_cpp
   src/rmw_get_gid_for_publisher.cpp
   src/rmw_get_implementation_identifier.cpp
   src/rmw_get_serialization_format.cpp
+  src/rmw_get_service_endpoint_info.cpp
   src/rmw_get_topic_endpoint_info.cpp
   src/rmw_guard_condition.cpp
   src/rmw_init.cpp

rmw_fastrtps_cpp/src/rmw_client.cpp

@@ -319,10 +319,11 @@ rmw_create_client(
     reader_qos.data_sharing().off();
   }
 
+  const rosidl_type_hash_t * ser_type_hash = type_supports->get_type_hash_func(type_supports);
   if (!get_datareader_qos(
       adapted_qos_policies,
       *type_supports->response_typesupport->get_type_hash_func(type_supports->response_typesupport),
-      reader_qos))
+      reader_qos, ser_type_hash))
   {
     RMW_SET_ERROR_MSG("create_client() failed setting response DataReader QoS");
     return nullptr;
@@ -389,7 +390,7 @@ rmw_create_client(
   if (!get_datawriter_qos(
       adapted_qos_policies,
       *type_supports->request_typesupport->get_type_hash_func(type_supports->request_typesupport),
-      writer_qos))
+      writer_qos, ser_type_hash))
   {
     RMW_SET_ERROR_MSG("create_client() failed setting request DataWriter QoS");
     return nullptr;

rmw_fastrtps_cpp/src/rmw_get_service_endpoint_info.cpp

@@ -0,0 +1,46 @@
+// 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.
+// 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.
+
+#include "rmw/get_service_endpoint_info.h"
+#include "rmw/service_endpoint_info_array.h"
+#include "rmw/types.h"
+#include "rmw_fastrtps_cpp/identifier.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+extern "C"
+{
+rmw_ret_t
+rmw_get_clients_info_by_service(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_service_endpoint_info_array_t * clients_info)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_get_clients_info_by_service(
+    eprosima_fastrtps_identifier, node, allocator, service_name, no_mangle, clients_info);
+}
+
+rmw_ret_t
+rmw_get_servers_info_by_service(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_service_endpoint_info_array_t * servers_info)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_get_servers_info_by_service(
+    eprosima_fastrtps_identifier, node, allocator, service_name, no_mangle, servers_info);
+}
+}  // extern "C"

rmw_fastrtps_cpp/src/rmw_service.cpp

@@ -315,10 +315,11 @@ rmw_create_service(
     reader_qos.data_sharing().off();
   }
 
+  const rosidl_type_hash_t * ser_type_hash = type_supports->get_type_hash_func(type_supports);
   if (!get_datareader_qos(
       adapted_qos_policies,
       *type_supports->request_typesupport->get_type_hash_func(type_supports->request_typesupport),
-      reader_qos))
+      reader_qos, ser_type_hash))
   {
     RMW_SET_ERROR_MSG("create_service() failed setting request DataReader QoS");
     return nullptr;
@@ -389,7 +390,7 @@ rmw_create_service(
   if (!get_datawriter_qos(
       adapted_qos_policies,
       *type_supports->response_typesupport->get_type_hash_func(type_supports->response_typesupport),
-      writer_qos))
+      writer_qos, ser_type_hash))
   {
     RMW_SET_ERROR_MSG("create_service() failed setting response DataWriter QoS");
     return nullptr;

rmw_fastrtps_dynamic_cpp/CMakeLists.txt

@@ -66,6 +66,7 @@ add_library(rmw_fastrtps_dynamic_cpp
   src/rmw_get_gid_for_publisher.cpp
   src/rmw_get_implementation_identifier.cpp
   src/rmw_get_serialization_format.cpp
+  src/rmw_get_service_endpoint_info.cpp
   src/rmw_get_topic_endpoint_info.cpp
   src/rmw_guard_condition.cpp
   src/rmw_init.cpp

rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp

@@ -348,10 +348,11 @@ rmw_create_client(
     reader_qos.data_sharing().off();
   }
 
+  const rosidl_type_hash_t * ser_type_hash = type_supports->get_type_hash_func(type_supports);
   if (!get_datareader_qos(
       adapted_qos_policies,
       *type_supports->response_typesupport->get_type_hash_func(type_supports->response_typesupport),
-      reader_qos))
+      reader_qos, ser_type_hash))
   {
     RMW_SET_ERROR_MSG("create_client() failed setting response DataReader QoS");
     return nullptr;
@@ -418,7 +419,7 @@ rmw_create_client(
   if (!get_datawriter_qos(
       adapted_qos_policies,
       *type_supports->request_typesupport->get_type_hash_func(type_supports->request_typesupport),
-      writer_qos))
+      writer_qos, ser_type_hash))
   {
     RMW_SET_ERROR_MSG("create_client() failed setting request DataWriter QoS");
     return nullptr;

rmw_fastrtps_dynamic_cpp/src/rmw_get_service_endpoint_info.cpp

@@ -0,0 +1,46 @@
+// 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.
+// 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.
+
+#include "rmw/get_service_endpoint_info.h"
+#include "rmw/service_endpoint_info_array.h"
+#include "rmw/types.h"
+#include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+extern "C"
+{
+rmw_ret_t
+rmw_get_clients_info_by_service(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_service_endpoint_info_array_t * clients_info)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_get_clients_info_by_service(
+    eprosima_fastrtps_identifier, node, allocator, service_name, no_mangle, clients_info);
+}
+
+rmw_ret_t
+rmw_get_servers_info_by_service(
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_service_endpoint_info_array_t * servers_info)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_get_servers_info_by_service(
+    eprosima_fastrtps_identifier, node, allocator, service_name, no_mangle, servers_info);
+}
+}  // extern "C"

rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp

@@ -344,10 +344,11 @@ rmw_create_service(
     reader_qos.data_sharing().off();
   }
 
+  const rosidl_type_hash_t * ser_type_hash = type_supports->get_type_hash_func(type_supports);
   if (!get_datareader_qos(
       adapted_qos_policies,
       *type_supports->request_typesupport->get_type_hash_func(type_supports->request_typesupport),
-      reader_qos))
+      reader_qos, ser_type_hash))
   {
     RMW_SET_ERROR_MSG("create_service() failed setting request DataReader QoS");
     return nullptr;
@@ -418,7 +419,7 @@ rmw_create_service(
   if (!get_datawriter_qos(
       adapted_qos_policies,
       *type_supports->response_typesupport->get_type_hash_func(type_supports->response_typesupport),
-      writer_qos))
+      writer_qos, ser_type_hash))
   {
     RMW_SET_ERROR_MSG("create_service() failed setting response DataWriter QoS");
     return nullptr;

rmw_fastrtps_shared_cpp/CMakeLists.txt

@@ -71,6 +71,7 @@ add_library(rmw_fastrtps_shared_cpp
   src/rmw_get_endpoint_network_flow.cpp
   src/rmw_get_gid_for_client.cpp
   src/rmw_get_gid_for_publisher.cpp
+  src/rmw_get_service_endpoint_info.cpp
   src/rmw_get_topic_endpoint_info.cpp
   src/rmw_guard_condition.cpp
   src/rmw_init.cpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp

@@ -243,7 +243,13 @@ class ParticipantListener : public eprosima::fastdds::dds::DomainParticipantList
           // We've handled the error, so clear it out.
           rmw_reset_error();
         }
-
+        rosidl_type_hash_t ser_type_hash;
+        rosidl_type_hash_t * ser_type_hash_ptr = nullptr;
+        if (RMW_RET_OK == rmw_dds_common::parse_sertype_hash_from_user_data(
+            userDataValue.data(), userDataValue.size(), ser_type_hash))
+        {
+          ser_type_hash_ptr = &ser_type_hash;
+        }
         context->graph_cache.add_entity(
           rmw_fastrtps_shared_cpp::create_rmw_gid(
             identifier_,
@@ -255,7 +261,8 @@ class ParticipantListener : public eprosima::fastdds::dds::DomainParticipantList
             identifier_,
             proxyData.participant_guid),
           qos_profile,
-          is_reader);
+          is_reader,
+          ser_type_hash_ptr);
       } else {
         context->graph_cache.remove_entity(
           rmw_fastrtps_shared_cpp::create_rmw_gid(

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp

@@ -36,14 +36,16 @@ bool
 get_datareader_qos(
   const rmw_qos_profile_t & qos_policies,
   const rosidl_type_hash_t & type_hash,
-  eprosima::fastdds::dds::DataReaderQos & reader_qos);
+  eprosima::fastdds::dds::DataReaderQos & reader_qos,
+  const rosidl_type_hash_t * ser_type_hash = nullptr);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 bool
 get_datawriter_qos(
   const rmw_qos_profile_t & qos_policies,
   const rosidl_type_hash_t & type_hash,
-  eprosima::fastdds::dds::DataWriterQos & writer_qos);
+  eprosima::fastdds::dds::DataWriterQos & writer_qos,
+  const rosidl_type_hash_t * ser_type_hash = nullptr);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 bool

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp

@@ -24,6 +24,7 @@
 #include "rmw/event.h"
 #include "rmw/features.h"
 #include "rmw/rmw.h"
+#include "rmw/service_endpoint_info_array.h"
 #include "rmw/topic_endpoint_info_array.h"
 #include "rmw/types.h"
 #include "rmw/names_and_types.h"
@@ -523,6 +524,26 @@ __rmw_get_subscriptions_info_by_topic(
   bool no_mangle,
   rmw_topic_endpoint_info_array_t * subscriptions_info);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_clients_info_by_service(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_service_endpoint_info_array_t * clients_info);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_servers_info_by_service(
+  const char * identifier,
+  const rmw_node_t * node,
+  rcutils_allocator_t * allocator,
+  const char * service_name,
+  bool no_mangle,
+  rmw_service_endpoint_info_array_t * servers_info);
+
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
 __rmw_qos_profile_check_compatible(

rmw_fastrtps_shared_cpp/src/qos.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <limits>
+#include <string>
 #include <vector>
 
 #include "rcutils/logging_macros.h"
@@ -154,7 +155,8 @@ bool
 fill_data_entity_qos_from_profile(
   const rmw_qos_profile_t & qos_policies,
   const rosidl_type_hash_t & type_hash,
-  DDSEntityQos & entity_qos)
+  DDSEntityQos & entity_qos,
+  const rosidl_type_hash_t * ser_type_hash = nullptr)
 {
   if (!fill_entity_qos_from_profile(qos_policies, entity_qos)) {
     return false;
@@ -169,6 +171,14 @@ fill_data_entity_qos_from_profile(
     // code won't overwrite it.
     rmw_reset_error();
   }
+  if (ser_type_hash) {
+    std::string typehash_str;
+    if (RMW_RET_OK ==
+      rmw_dds_common::encode_sertype_hash_for_user_data_qos(*ser_type_hash, typehash_str))
+    {
+      user_data_str += typehash_str;
+    }
+  }
   std::vector<uint8_t> user_data(user_data_str.begin(), user_data_str.end());
   entity_qos.user_data().resize(user_data.size());
   entity_qos.user_data().setValue(user_data);
@@ -179,9 +189,10 @@ bool
 get_datareader_qos(
   const rmw_qos_profile_t & qos_policies,
   const rosidl_type_hash_t & type_hash,
-  eprosima::fastdds::dds::DataReaderQos & datareader_qos)
+  eprosima::fastdds::dds::DataReaderQos & datareader_qos,
+  const rosidl_type_hash_t * ser_type_hash)
 {
-  if (fill_data_entity_qos_from_profile(qos_policies, type_hash, datareader_qos)) {
+  if (fill_data_entity_qos_from_profile(qos_policies, type_hash, datareader_qos, ser_type_hash)) {
     // The type support in the RMW implementation is always XCDR1.
     constexpr auto rep = eprosima::fastdds::dds::XCDR_DATA_REPRESENTATION;
     datareader_qos.representation().clear();
@@ -196,9 +207,10 @@ bool
 get_datawriter_qos(
   const rmw_qos_profile_t & qos_policies,
   const rosidl_type_hash_t & type_hash,
-  eprosima::fastdds::dds::DataWriterQos & datawriter_qos)
+  eprosima::fastdds::dds::DataWriterQos & datawriter_qos,
+  const rosidl_type_hash_t * ser_type_hash)
 {
-  if (fill_data_entity_qos_from_profile(qos_policies, type_hash, datawriter_qos)) {
+  if (fill_data_entity_qos_from_profile(qos_policies, type_hash, datawriter_qos, ser_type_hash)) {
     // The type support in the RMW implementation is always XCDR1.
     constexpr auto rep = eprosima::fastdds::dds::XCDR_DATA_REPRESENTATION;
     datawriter_qos.representation().clear();

rmw_fastrtps_shared_cpp/src/rmw_count.cpp

@@ -155,8 +155,8 @@ __rmw_count_services(
   }
   RMW_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_INVALID_ARGUMENT);
   auto common_context = static_cast<rmw_dds_common::Context *>(node->context->impl->common);
-  const std::string mangled_rp_service_name =
-    _mangle_topic_name(ros_service_response_prefix, service_name, "Reply").to_string();
-  return common_context->graph_cache.get_writer_count(mangled_rp_service_name, count);
+  const std::string mangled_rq_service_name =
+    _mangle_topic_name(ros_service_requester_prefix, service_name, "Request").to_string();
+  return common_context->graph_cache.get_reader_count(mangled_rq_service_name, count);
 }
 }  // namespace rmw_fastrtps_shared_cpp