Program Listing for File topic_select.h

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#ifndef MAPVIZ_PLUGINS__TOPIC_SELECT_H_
#define MAPVIZ_PLUGINS__TOPIC_SELECT_H_

#include <map>
#include <memory>
#include <set>
#include <string>
#include <vector>

#include <QDialog>

#include <rclcpp/rclcpp.hpp>
#include <rmw/qos_profiles.h>
#include "ui_topicselect.h"

QT_BEGIN_NAMESPACE
class QLineEdit;
class QListWidget;
class QPushButton;
class QSpinBox;
QT_END_NAMESPACE

namespace mapviz_plugins
{
inline bool qosEqual(const rmw_qos_profile_t& lhs, const rmw_qos_profile_t& rhs)
{
  if (lhs.depth != rhs.depth) { return false; }
  if (lhs.history != rhs.history) { return false; }
  if (lhs.durability != rhs.durability) { return false; }
  if (lhs.reliability != rhs.reliability) { return false; }
  return true;
}

class SelectTopicDialog : public QDialog
{
  Q_OBJECT

 public:
  static std::pair<std::string, rmw_qos_profile_t> selectTopic(
    const rclcpp::Node::SharedPtr& node,
    const std::string& datatype,
    const rmw_qos_profile_t& qos,
    QWidget* parent = nullptr);

  static std::pair<std::string, rmw_qos_profile_t> selectTopic(
    const rclcpp::Node::SharedPtr& node,
    const std::string& datatype1,
    const std::string& datatype2,
    const rmw_qos_profile_t& qos,
    QWidget* parent = nullptr);

  static std::pair<std::string, rmw_qos_profile_t> selectTopic(
    const rclcpp::Node::SharedPtr& node,
    const std::vector<std::string>& datatypes,
    const rmw_qos_profile_t& qos,
    QWidget* parent = nullptr);

  static std::pair<std::vector<std::string>, rmw_qos_profile_t> selectTopics(
    const rclcpp::Node::SharedPtr& node,
    const std::string& datatype,
    const rmw_qos_profile_t& qos,
    QWidget* parent = nullptr);

  static std::pair<std::vector<std::string>, rmw_qos_profile_t> selectTopics(
    const rclcpp::Node::SharedPtr& node,
    const std::string& datatype1,
    const std::string& datatype2,
    const rmw_qos_profile_t& qos,
    QWidget* parent = nullptr);

  static std::pair<std::vector<std::string>, rmw_qos_profile_t> selectTopics(
    const rclcpp::Node::SharedPtr& node,
    const std::vector<std::string>& datatypes,
    const rmw_qos_profile_t& qos,
    QWidget* parent = nullptr);

  explicit SelectTopicDialog(
    const rclcpp::Node::SharedPtr& node,
    const rmw_qos_profile_t& qos,
    QWidget* parent = nullptr);

  void allowMultipleTopics(bool allow);

  void setDatatypeFilter(const std::vector<std::string> &datatypes);

  std::pair<std::string, rmw_qos_profile_t> selectedTopic() const;
  std::pair<std::vector<std::string>, rmw_qos_profile_t> selectedTopics() const;

 private:
  void timerEvent(QTimerEvent *) override;
  void closeEvent(QCloseEvent *) override;

  std::vector<std::string> filterTopics(
    const std::map<std::string, std::vector<std::string>> &) const;

 private Q_SLOTS:
  void fetchTopics();
  void updateDisplayedTopics();

 private:
  std::set<std::string> allowed_datatypes_;
  std::map<std::string, std::vector<std::string>> known_topics_;

  std::vector<std::string> displayed_topics_;
  int fetch_topics_timer_id_;
  Ui::TopicSelect *ui_;

  std::shared_ptr<rclcpp::Node> nh_;   // This may need to be a shared instance of Mapviz's node
};  // class SelectTopicDialog
}  // namespace mapviz

#endif  // MAPVIZ_PLUGINS__TOPIC_SELECT_H_