From 392f64bece64208974ed676bb31967cd622358b4 Mon Sep 17 00:00:00 2001
From: zhanjianbo <zhan@dev-docker>
Date: Mon, 27 Oct 2025 01:42:22 +0000
Subject: [PATCH 1/2] feat: Mod according to
 https://github.com/ros2/rmw_iceoryx/issues/113

---
 rmw_iceoryx_cpp/src/rmw_count.cpp | 42 +++++++++++++++++++++++++++++++
 rmw_iceoryx_cpp/src/rmw_event.cpp |  7 ++++++
 2 files changed, 49 insertions(+)

diff --git a/rmw_iceoryx_cpp/src/rmw_count.cpp b/rmw_iceoryx_cpp/src/rmw_count.cpp
index 9c87cd2..3b6ba54 100644
--- a/rmw_iceoryx_cpp/src/rmw_count.cpp
+++ b/rmw_iceoryx_cpp/src/rmw_count.cpp
@@ -142,4 +142,46 @@ rmw_publisher_count_matched_subscriptions(
   *subscription_count = counter;
   return RMW_RET_OK;
 }
+
+rmw_ret_t
+rmw_count_clients(
+  const rmw_node_t * node,
+  const char * service_name,
+  size_t * count)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(service_name, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_ERROR);
+
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_count_clients
+    : node, node->implementation_identifier,
+    rmw_get_implementation_identifier(), return RMW_RET_ERROR);
+
+  // Iceoryx introspection does not support client/server counting
+  // See: https://github.com/eclipse-iceoryx/iceoryx/issues/1128
+  *count = 0;
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+rmw_count_services(
+  const rmw_node_t * node,
+  const char * service_name,
+  size_t * count)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(service_name, RMW_RET_ERROR);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(count, RMW_RET_ERROR);
+
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    rmw_count_services
+    : node, node->implementation_identifier,
+    rmw_get_implementation_identifier(), return RMW_RET_ERROR);
+
+  // Iceoryx introspection does not support client/server counting
+  // See: https://github.com/eclipse-iceoryx/iceoryx/issues/1128
+  *count = 0;
+  return RMW_RET_UNSUPPORTED;
+}
 }  // extern "C"
diff --git a/rmw_iceoryx_cpp/src/rmw_event.cpp b/rmw_iceoryx_cpp/src/rmw_event.cpp
index d16c565..983a60b 100644
--- a/rmw_iceoryx_cpp/src/rmw_event.cpp
+++ b/rmw_iceoryx_cpp/src/rmw_event.cpp
@@ -59,4 +59,11 @@ rmw_ret_t rmw_event_set_callback(
 
   return RMW_RET_UNSUPPORTED;
 }
+
+rmw_ret_t
+rmw_event_type_is_supported(rmw_event_type_t event_type)
+{
+  (void) event_type;
+  return RMW_RET_UNSUPPORTED;
+}
 }  // extern "C"

From 955ff52e94ce0a46aeb6901cf70dafc7667a7783 Mon Sep 17 00:00:00 2001
From: zhanjianbo <zhan@dev-docker>
Date: Mon, 27 Oct 2025 01:48:28 +0000
Subject: [PATCH 2/2] fix: rmw_event_type_is_supported

---
 rmw_iceoryx_cpp/src/rmw_event.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/rmw_iceoryx_cpp/src/rmw_event.cpp b/rmw_iceoryx_cpp/src/rmw_event.cpp
index 983a60b..4e94a44 100644
--- a/rmw_iceoryx_cpp/src/rmw_event.cpp
+++ b/rmw_iceoryx_cpp/src/rmw_event.cpp
@@ -60,10 +60,10 @@ rmw_ret_t rmw_event_set_callback(
   return RMW_RET_UNSUPPORTED;
 }
 
-rmw_ret_t
+bool
 rmw_event_type_is_supported(rmw_event_type_t event_type)
 {
   (void) event_type;
-  return RMW_RET_UNSUPPORTED;
+  return false;
 }
 }  // extern "C"