selection_topics.cpp

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#include <graph_rviz_plugin/selection_topics.hpp>

namespace graph_rviz_plugin
{

SelectionTopics::SelectionTopics(std::shared_ptr<ros::NodeHandle> nh,
                                 std::deque<std::shared_ptr<TopicData>> already_displayed_topics,
                                 const std::vector<std::string> allowed_types,
                                 const bool single_choice,
                                 QDialog *) :
    nh_(nh),
    already_displayed_topics_(already_displayed_topics),
    allowed_types_(allowed_types),
    single_choice_(single_choice)
{
  setWindowTitle("Topics selection");
  QVBoxLayout *main_layout = new QVBoxLayout;
  setLayout(main_layout);
  QVBoxLayout *scroll_widget_layout = new QVBoxLayout;
  QWidget *scroll_widget = new QWidget;
  scroll_widget->setLayout(scroll_widget_layout);
  QScrollArea *scroll_area = new QScrollArea;
  scroll_area->setWidget(scroll_widget);
  scroll_area->setWidgetResizable(true);
  scroll_area->setFrameShape(QFrame::NoFrame);
  detectTopics();

  std::sort(supported_topics_.begin(), supported_topics_.end(), [](ros::master::TopicInfo a, ros::master::TopicInfo b) {
    return a.name < b.name;
  });

  for (auto topic : supported_topics_)
  {
    QAbstractButton *button;
    if (single_choice_)
      button = new QRadioButton;
    else
      button = new QCheckBox;

    topic_buttons_.push_back(button);
    button->setText(QString::fromStdString(topic.name));
    button->setObjectName(QString::fromStdString(topic.name));
    button->setToolTip(QString::fromStdString(topic.datatype));

    for (std::size_t i(0); i < already_displayed_topics_.size(); ++i)
    {
      if (!already_displayed_topics_.at(i))
        continue;

      if (already_displayed_topics_.at(i)->topic_name_ == topic.name)
        button->setChecked(true);
    }

    scroll_widget_layout->addWidget(button);
  }

  main_layout->addWidget(scroll_area);
  QDialogButtonBox *button_box = new QDialogButtonBox(QDialogButtonBox::Ok
                                                      | QDialogButtonBox::Cancel);
  main_layout->addWidget(button_box);

  connect(button_box, &QDialogButtonBox::accepted, this, &SelectionTopics::okClicked);
  connect(button_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
  connect(this, &SelectionTopics::displayMessageBox, this, &SelectionTopics::displayMessageBoxHandler);
}

SelectionTopics::~SelectionTopics()
{
}

void SelectionTopics::detectTopics()
{
  ros::master::V_TopicInfo topics;

  if (!ros::master::getTopics(topics))
  {
    Q_EMIT displayMessageBox("Error getting topics", "Could not retrieve the topics names.", "",
                             QMessageBox::Icon::Critical);
    return;
  }

  for (auto topic : topics)
  {
    for (auto type : allowed_types_)
    {
      if (topic.datatype == type)
      {
        supported_topics_.push_back(topic);
        break;
      }
    }
  }
}

void SelectionTopics::displayMessageBoxHandler(const QString title,
                                               const QString text,
                                               const QString info,
                                               const QMessageBox::Icon icon)
{
  const bool old_state(isEnabled());
  setEnabled(false);
  QMessageBox msg_box;
  msg_box.setWindowTitle(title);
  msg_box.setText(text);
  msg_box.setInformativeText(info);
  msg_box.setIcon(icon);
  msg_box.setStandardButtons(QMessageBox::Ok);
  msg_box.exec();
  setEnabled(old_state);
}

void SelectionTopics::okClicked()
{
  displayed_topics_.clear();
  for (auto button : topic_buttons_)
  {
    if (!button->isChecked())
      continue;

    std::shared_ptr<TopicData> topic_data =
        std::make_shared<TopicData>(button->objectName().toStdString(), button->toolTip().toStdString(), nh_);
    displayed_topics_.push_back(topic_data);
  }

  accept();
}

}