downloadobjectdialog.cpp

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#include "downloadobjectdialog.h"
#include "ui_downloadobjectdialog.h"

#include <re_object_recorder/qminizip.h>

#include <ros/service.h>
#include <re_srvs/QueryObjects.h>
#include <re_srvs/SearchObjects.h>
#include <re_srvs/GetObjectBinaryFile.h>

#include <QDebug>
#include <QFileDialog>
#include <QMessageBox>
#include <QtCore>
#include <QProgressDialog>

const QString DOWNLOAD_SERVICE = "/re_comm/get_object_binary_file";
const QString QUERY_SERVICE = "/re_comm/search_objects";

DownloadObjectDialog::DownloadObjectDialog(QWidget *parent) :
    QDialog(parent),
    ui(new Ui::DownloadObjectDialog)
{
    ui->setupUi(this);
    ui->downloadDirEdit->setText(QDir::tempPath());
}

DownloadObjectDialog::~DownloadObjectDialog()
{
    delete ui;
}

void DownloadObjectDialog::on_cancelButton_clicked() {
    emit reject();
}

void DownloadObjectDialog::addTableEntry(QString uid, QString filename, QString fileurl) {
    int row = ui->resultsTableWidget->rowCount();
    ui->resultsTableWidget->insertRow(row);
    QTableWidgetItem *checkItem = new QTableWidgetItem();
    checkItem->setCheckState(Qt::Unchecked);
    QTableWidgetItem *uidItem = new QTableWidgetItem(uid);
    QTableWidgetItem *filenameItem = new QTableWidgetItem(filename);
    QTableWidgetItem *fileURLItem = new QTableWidgetItem(fileurl);

    ui->resultsTableWidget->setItem(row, 0, checkItem);
    ui->resultsTableWidget->setItem(row, 1, uidItem);
    ui->resultsTableWidget->setItem(row, 2, filenameItem);
    ui->resultsTableWidget->setItem(row, 3, fileURLItem);
}

bool searchObjectsServiceCall(re_srvs::SearchObjectsRequest& req, re_srvs::SearchObjectsResponse* resp) {
    return ros::service::call(QUERY_SERVICE.toStdString(), req, *resp);
}

void DownloadObjectDialog::on_searchButton_clicked() {
    ui->resultsTableWidget->clearContents();
    ui->resultsTableWidget->setRowCount(0);

    QString searchQStr = ui->searchEdit->text().trimmed();

    // FIXME: re_comm seems to crash when a space (' ') is sent
    if (searchQStr.isEmpty()) {
        ui->queryFeedbackLbl->setText("Empty queries are not allowed");
        return;
    }

    if (!ros::service::exists(QUERY_SERVICE.toStdString(), true)) {
        QMessageBox::warning(this, "Error", "Could not reach syntactic query service. Is re_comm running?");
        return;
    }

    re_srvs::SearchObjectsRequest req;
    req.searchID = searchQStr.toStdString();
    re_srvs::SearchObjectsResponse resp;
    ui->queryFeedbackLbl->setText("Querying...");

    {
        QProgressDialog dlg("Querying RoboEarth...", "Cancel", 0, 0, this);
        dlg.setCancelButton(NULL);
        QFutureWatcher<bool> futureWatcher;
        QObject::connect(&futureWatcher, SIGNAL(finished()), &dlg, SLOT(reset()));
        QObject::connect(&dlg, SIGNAL(canceled()), &futureWatcher, SLOT(cancel()));
        // NOTE: QtConcurrent::run creates copies of its arguments before calling the function
        QFuture<bool> future = QtConcurrent::run(&searchObjectsServiceCall, req, &resp);
        futureWatcher.setFuture(future);

        dlg.exec();

        futureWatcher.waitForFinished();
        if (dlg.wasCanceled()) {
            ui->queryFeedbackLbl->setText("Query cancelled by user");
            return;
        } else if ((future.result() == true) && resp.success) {
            ui->queryFeedbackLbl->setText("Query successful");
        } else {
            ui->queryFeedbackLbl->setText("Query failed");
            return;
        }
    }

    for(unsigned int i=0; i<resp.objects.size(); i++) {
        QString uid = QString::fromStdString(resp.uids.at(i));
        re_msgs::StringArray filenames = resp.filenames.at(i);
        re_msgs::StringArray fileURLS = resp.fileURLs.at(i);

        for (unsigned int j=0; j<filenames.list.size(); j++) {
            addTableEntry(uid, QString::fromStdString(filenames.list.at(j)), QString::fromStdString(fileURLS.list.at(j)));
        }
    }
}

void DownloadObjectDialog::on_chooseDownloadDirButton_clicked() {
    QString dir = QFileDialog::getExistingDirectory(this, "Choose a target directory", ui->downloadDirEdit->text());
    if (dir.isEmpty())
        return;

    ui->downloadDirEdit->setText(dir);
}

bool downloadObjectsServiceCall(re_srvs::GetObjectBinaryFileRequest& req, re_srvs::GetObjectBinaryFileResponse *resp) {
    return ros::service::call(DOWNLOAD_SERVICE.toStdString(), req, *resp);
}

bool DownloadObjectDialog::downloadFile(QString uid, QString filename, QDir target_path) {
    re_srvs::GetObjectBinaryFileRequest req;
    req.objectUID = uid.toStdString();
    req.filename = filename.toStdString();
    re_srvs::GetObjectBinaryFileResponse resp;
    {
        QProgressDialog dlg("Downloading Objects", "Cancel", 0, 0, this);
        dlg.setCancelButton(NULL);
        QFutureWatcher<bool> futureWatcher;
        QObject::connect(&futureWatcher, SIGNAL(finished()), &dlg, SLOT(reset()));
        QObject::connect(&dlg, SIGNAL(canceled()), &futureWatcher, SLOT(cancel()));
        // NOTE: QtConcurrent::run creates copies of its arguments before calling the function
        QFuture<bool> future = QtConcurrent::run(&downloadObjectsServiceCall, req, &resp);
        futureWatcher.setFuture(future);

        dlg.exec();

        futureWatcher.waitForFinished();
        if (dlg.wasCanceled()) {
            QMessageBox::warning(this, "Download cancelled", "Download cancelled by user.");
            return false;
        } else if ((future.result() == true) && resp.success) {
            // download successful
        } else {
            QMessageBox::warning(this, "Download failed", "Downloading of '" + uid + "' failed!");
            return false;
        }
    }

    QFile out_file(target_path.filePath(QString::fromStdString(resp.file.name)));
    if (!out_file.open(QIODevice::WriteOnly)) {
        QMessageBox::warning(this, "Download failed", "Could not open '" + out_file.fileName() + "' for writing.");
        return false;
    }
    qDebug() << "writing to " << out_file.fileName();

    // TOOD: what if memory full?
    char *buffer = new char[resp.file.data.size()];
    std::copy(resp.file.data.begin(), resp.file.data.end(), buffer);
    qint64 written = out_file.write(buffer, resp.file.data.size());
    delete [] buffer;

    if (written < resp.file.data.size()) {
        QMessageBox::warning(this, "Download failed", "Wrote only " + QString::number(written) + " of "
                             + QString::number(resp.file.data.size()) + " bytes to " + out_file.fileName() + "!");
        return false;
    }

    return true;
}

void DownloadObjectDialog::on_downloadButton_clicked() {
    bool service_checked = false;
    QDir target_path(ui->downloadDirEdit->text());
    for(int i=0; i<ui->resultsTableWidget->rowCount(); i++) {
        QTableWidgetItem *checkboxItem = ui->resultsTableWidget->item(i, 0);
        QTableWidgetItem *uidItem = ui->resultsTableWidget->item(i, 1);
        QTableWidgetItem *fileURLItem = ui->resultsTableWidget->item(i, 3);
        if (checkboxItem->checkState() == Qt::Checked) {
            // get actual file name (i.e. last part of URL)
            QStringList fileURLSplitted = fileURLItem->text().split('/', QString::SkipEmptyParts);
            QString realFilename = fileURLSplitted.last();

            if (!service_checked && !ros::service::exists(DOWNLOAD_SERVICE.toStdString(), true)) {
                QMessageBox::warning(this, "Error", "Could not reach download service. Is re_comm running?");
                return;
            }
            service_checked = true;

            bool downloaded = downloadFile(uidItem->text(), realFilename, target_path);
            if (downloaded && realFilename.endsWith(".zip", Qt::CaseInsensitive)) {
                qDebug() << "extracting into " << target_path;
                // unpack
                QMiniZip mz(target_path.filePath(realFilename), QMiniZip::UNZIP);
                mz.unzip(target_path);

                QStringList zipContents = mz.getContents();
                qDebug() << zipContents;
                QString created_dir_name = zipContents.first().split('/', QString::SkipEmptyParts).first();

                this->downloaded_models.append(target_path.filePath(created_dir_name));
            }
        }
    }

    emit accept();
}