select_service_dialog.h

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#ifndef MAPVIZ_SELECT_SERVICE_DIALOG_H
#define MAPVIZ_SELECT_SERVICE_DIALOG_H

#include <set>
#include <vector>

#include <boost/shared_ptr.hpp>

#include <QDialog>
#include <QMetaType>
#include <QThread>

#include <ros/ros.h>

QT_BEGIN_NAMESPACE
class QLineEdit;
class QListWidget;
class QPushButton;
QT_END_NAMESPACE

// This is ugly, but necessary in order to be able to send a std::vector<std::string>
// via a queued signal/slot connection.
typedef std::vector<std::string> ServiceStringVector;
Q_DECLARE_METATYPE(ServiceStringVector);

namespace mapviz
{
  class ServiceUpdaterThread : public QThread
  {
    Q_OBJECT
  public:
    ServiceUpdaterThread(ros::NodeHandle& nh, const std::string& allowed_datatype, QObject* parent) :
      nh_(nh),
      allowed_datatype_(allowed_datatype),
      QThread(parent)
    {
    }
    void run();

  Q_SIGNALS:
    void servicesFetched(ServiceStringVector services);
    void fetchingFailed(const QString error_msg);

  private:
    ros::NodeHandle& nh_;
    const std::string& allowed_datatype_;
  };

  class SelectServiceDialog : public QDialog
  {
    Q_OBJECT
  public:
    static std::string selectService(const std::string& datatype, QWidget* parent=0);

    SelectServiceDialog(const std::string& datatype = "", QWidget* parent=0);
    virtual ~SelectServiceDialog();

    void setDatatypeFilter(const std::string& datatype);

    std::string selectedService() const;

  private Q_SLOTS:
    void fetchServices();
    void updateDisplayedServices();
    void updateKnownServices(ServiceStringVector services);
    void displayUpdateError(const QString);

  private:
    std::vector<std::string> filterServices();
    void timerEvent(QTimerEvent *);
    void closeEvent(QCloseEvent *);

    std::string allowed_datatype_;

    ros::NodeHandle nh_;

    std::vector<std::string> known_services_;
    std::vector<std::string> displayed_services_;

    int fetch_services_timer_id_;

    QPushButton *ok_button_;
    QPushButton *cancel_button_;
    QListWidget *list_widget_;
    QLineEdit *name_filter_;
    boost::shared_ptr<ServiceUpdaterThread> worker_thread_;
  };
}

#endif //MAPVIZ_SELECT_SERVICE_DIALOG_H