node_click_handler.h

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#ifndef SWRI_CONSOLE_NODE_CLICK_HANDLER_H
#define SWRI_CONSOLE_NODE_CLICK_HANDLER_H
 
#include <vector>
 
#include <boost/thread.hpp>
 
#include <QContextMenuEvent>
#include <QObject>
#include <QEvent>
#include <QFuture>
#include <QListView>
#include <QMenu>
 
#include <ros/ros.h>
#include <ros/service_client.h>
 
namespace swri_console
{
  class NodeClickHandler : public QObject
  {
    Q_OBJECT
 
  public Q_SLOTS:
    void logLevelClicked();
 
  protected:
    bool eventFilter(QObject* obj, QEvent* event);
 
  private:
    template <class T> void callServiceWorker(ros::ServiceClient& client, T* service, bool* success)
    {
      *success = client.call(*service);
    }
 
    template <class T> bool callService(ros::ServiceClient& client, T& service, int timeout_secs = 5)
    {
      bool success = false;
      boost::thread svc_thread(&NodeClickHandler::callServiceWorker<T>, this, client, &service, &success);
 
      if (svc_thread.try_join_for(boost::chrono::seconds(timeout_secs))) {
        return success;
      }
      svc_thread.interrupt();
      return false;
    }
 
    bool showContextMenu(QListView* list, QContextMenuEvent* event);
    QMenu* createMenu(const QString& logger_name, const QString& current_level);
 
    ros::NodeHandle nh_;
    std::string node_name_;
    std::vector<std::string> all_loggers_;
 
    static const std::string ALL_LOGGERS;
    static const std::string GET_LOGGERS_SVC;
    static const std::string SET_LOGGER_LEVEL_SVC;
  };
}
 
#endif //SWRI_CONSOLE_NODE_CLICK_HANDLER_H