[Design] Add design on recording and replay service

docs/design/rosbag2_record_replay_service.md

@@ -8,11 +8,11 @@ This design describe how to implement this feature based on current architecture
 
 ## How to save record service message
 
-Service introspection ([ros2/ros2#1285](https://github.com/ros2/ros2/issues/1285)) had been implemented. All service messages (requests and responses) are published to service introspection topic which is hidden topic named as `_service_event` under service name (e.g. /add_two_ints/_service_event). So all messages in this topic can be recorded like general topic. 
+Service introspection ([ros2/ros2#1285](https://github.com/ros2/ros2/issues/1285)) had been implemented. All service messages (requests and responses) are published to service event topic which is hidden topic named as `_service_event` under service name (e.g. /add_two_ints/_service_event). So all messages in this topic can be recorded like general topic.
 
-## How to distinguish service introspection topic in all recorded topics 
+## How to distinguish service event topic in all recorded topics
 
-Service introspection is saved like general topic. But they should use different process after reading from recording file. So they should be distinguished by topic name.  
+Service event topic is saved like general topic. But they should use different process after reading from recording file. So they should be distinguished by topic name.
 
 - General topic  
 
@@ -22,23 +22,50 @@ Service introspection is saved like general topic. But they should use different
 
   [NameSpace/]_TopicName
 
-- Service introspection topic
+- Service event topic
 
   [NameSpace/]ServiceName/_service_event
 
-So if the string ends with `/_service_event` in topic name, it should be service introspection topic. Of course, it is possible that hidden topic has the same name. So message type is used for further check. The message type for service introspection must ends with "_Event" (e.g. example_interfaces/srv/AddTwoInts_Event). Therefore, service introspection topic can be identified.
+The following criteria will be used to determine a service event topic:
+1. The topic ends with `/_service_event`
+2. The topic type name matches  `*/srv/*_Event` (e.g. `example_interfaces/srv/AddTwoInts_Event`)
 
 ### Expand the 'record' command
 
-Add 1 parameter.
+Add 3 parameters.
 
-- `-S [SerivceName1 ServiceName2 ...]` or `--services [SerivceName1 ServiceName2 ...]`
+- `-S ServiceName1 [ServiceName2 ...]` or `--services ServiceName1 [ServiceName2 ...]`
 
-    If the user doesn't specify service names, all service introspection topics are recorded.
+    Specify which services will be recorded. User must specify at least one service.
+
+- `--all-topics`
+
+    Record all topics. Hidden topic are excluded (include service event topics).
+
+- `--all-services`
+
+    Record all service event topics.
+
+The description of the relevant parameter behavior.
+
+| Parameter | Description |
+| :-- | :--|
+|--include-hidden-topics| Record all hidden topics. Include service event topic. |
+|--services ServiceName1 [ServiceName2 ...] | Record services (service event topics) with specified service names. |
+| --all | Record all topics and service event topics. Other hidden topics are excluded. |
+| --all-topics | Record all topics. Hidden topic are excluded (include service event topic). |
+| --all-services | Only record all service event topics. |
 
 ### Change output of 'Info' command
 
-Topic for service introspection should be listed distinctively, as below example.
+A new parameter is added.
+
+- `-v` or `--verbose`
+
+    This parameter only affect service event topic. if `-v` or `--verbose` is set, info command shows the number of request and response for each services based on service event. Otherwise, only show the number of service event. Note that parsing the number of request and response need spent time. The duration of the parsing is related to the number of recorded service events.
+
+
+Without `-v` or `--verbose` parameter, info command shows as below example.
 
 ```
 Files:             123_0.mcap
@@ -53,12 +80,32 @@ Topic information: Topic: /chatter | Type: std_msgs/msg/String | Count: 16 | Ser
                    Topic: /parameter_events | Type: rcl_interfaces/msg/ParameterEvent | Count: 0 | Serialization Format: cdr
                    Topic: /rosout | Type: rcl_interfaces/msg/Log | Count: 44 | Serialization Format: cdr
 
->>>> The below is new added items for service introspection <<<<<<<
-Service Events: XX  
+>>>> The below is new added items for service event topic <<<<<<<
+Service : XX  <== The number of service
 Service information: Service: /xxx/xxx | Type: xxx/xxx/xxx | Event Count: XX | Serialization Format: XX
                      Service: /xxx/xxx | Type: xxx/xxx/xxx | Event Count: XX | Serialization Format: XX
 ```
 
+With `-v` or `--verbose` parameter, info command shows as below example.
+```
+Files:             123_0.mcap
+Bag size:          28.2 KiB
+Storage id:        mcap
+Duration:          15.59s
+Start:             May 19 2023 13:22:25.340 (1684473745.340)
+End:               May 19 2023 13:22:40.400 (1684473760.400)
+Messages:          60
+Topic information: Topic: /chatter | Type: std_msgs/msg/String | Count: 16 | Serialization Format: cdr
+                   Topic: /events/write_split | Type: rosbag2_interfaces/msg/WriteSplitEvent | Count: 0 | Serialization Format: cdr
+                   Topic: /parameter_events | Type: rcl_interfaces/msg/ParameterEvent | Count: 0 | Serialization Format: cdr
+                   Topic: /rosout | Type: rcl_interfaces/msg/Log | Count: 44 | Serialization Format: cdr
+
+>>>> The below is new added items for service <<<<<<<
+Service : XX  <== The number of service
+Service information: Service: /xxx/xxx | Type: xxx/xxx/xxx | Request Count: XX | Response Count: XX | Serialization Format: XX
+                     Service: /xxx/xxx | Type: xxx/xxx/xxx | Request Count: XX | Response Count: XX | Serialization Format: XX
+```
+
 ### Expand the 'play' command
 
 Add 2 parameters.