From 46e01118d0728c50413d532033e63d6e309a1b7e Mon Sep 17 00:00:00 2001
From: Florian Lebecque <florianlebecque@hotmail.com>
Date: Thu, 2 Jan 2025 16:26:56 +0100
Subject: [PATCH] Add new service to retreive the different interfaces in the
 ROS Network

---
 rosapi/scripts/rosapi_node     | 7 +++++++
 rosapi/src/rosapi/proxy.py     | 7 +++++++
 rosapi_msgs/CMakeLists.txt     | 1 +
 rosapi_msgs/srv/Interfaces.srv | 2 ++
 4 files changed, 17 insertions(+)
 create mode 100644 rosapi_msgs/srv/Interfaces.srv

diff --git a/rosapi/scripts/rosapi_node b/rosapi/scripts/rosapi_node
index af478ee52..b71843fdc 100755
--- a/rosapi/scripts/rosapi_node
+++ b/rosapi/scripts/rosapi_node
@@ -65,6 +65,7 @@ from rosapi_msgs.srv import (
     TopicsAndRawTypes,
     TopicsForType,
     TopicType,
+    Interfaces,
 )
 
 
@@ -89,6 +90,7 @@ class Rosapi(Node):
             full_name = self.get_namespace() + "/" + self.get_name()
         params.init(full_name)
         self.create_service(Topics, "/rosapi/topics", self.get_topics)
+        self.create_service(Interfaces, "/rosapi/interfaces", self.get_interfaces)
         self.create_service(TopicsForType, "/rosapi/topics_for_type", self.get_topics_for_type)
         self.create_service(
             TopicsAndRawTypes,
@@ -137,6 +139,11 @@ class Rosapi(Node):
         response.topics, response.types = proxy.get_topics_and_types(self.globs.topics)
         return response
 
+    def get_interfaces(self, request, response):
+        """Called by the rosapi/Types service. Returns a list of all the types in the system."""
+        response.interfaces = proxy.get_interfaces()
+        return response
+
     def get_topics_for_type(self, request, response):
         """Called by the rosapi/TopicsForType service. Returns a list of all the topics that are publishing a given type"""
         response.topics = proxy.get_topics_for_type(request.type, self.globs.topics)
diff --git a/rosapi/src/rosapi/proxy.py b/rosapi/src/rosapi/proxy.py
index c3bdbb4a0..086c73adc 100644
--- a/rosapi/src/rosapi/proxy.py
+++ b/rosapi/src/rosapi/proxy.py
@@ -40,6 +40,8 @@
 from ros2service.api import get_service_names, get_service_names_and_types
 from ros2topic.api import get_topic_names, get_topic_names_and_types
 
+from ros2interface.api import type_completer
+
 from .glob_helper import any_match, filter_globs
 
 _node = None
@@ -59,6 +61,10 @@ def get_topics(topics_glob, include_hidden=False):
     topic_names = get_topic_names(node=_node, include_hidden_topics=include_hidden)
     return filter_globs(topics_glob, topic_names)
 
+def get_interfaces():
+    """Returns a list of all the types in the ROS system"""
+    return type_completer()
+
 
 def get_topics_and_types(topics_glob, include_hidden=False):
     return get_publications_and_types(
@@ -258,3 +264,4 @@ def get_service_node(queried_type, services_glob, include_hidden=False):
         return node_name[0]
     else:
         return ""
+
diff --git a/rosapi_msgs/CMakeLists.txt b/rosapi_msgs/CMakeLists.txt
index 477ab48e4..8764e26c8 100644
--- a/rosapi_msgs/CMakeLists.txt
+++ b/rosapi_msgs/CMakeLists.txt
@@ -14,6 +14,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   srv/GetROSVersion.srv
   srv/GetTime.srv
   srv/HasParam.srv
+  srv/Interfaces.srv
   srv/MessageDetails.srv
   srv/Nodes.srv
   srv/NodeDetails.srv
diff --git a/rosapi_msgs/srv/Interfaces.srv b/rosapi_msgs/srv/Interfaces.srv
new file mode 100644
index 000000000..4221e0c87
--- /dev/null
+++ b/rosapi_msgs/srv/Interfaces.srv
@@ -0,0 +1,2 @@
+---
+string[] interfaces
\ No newline at end of file