.. _program_listing_file__tmp_ws_src_mapviz_mapviz_include_mapviz_select_service_dialog.h:

Program Listing for File select_service_dialog.h
================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mapviz_mapviz_include_mapviz_select_service_dialog.h>` (``/tmp/ws/src/mapviz/mapviz/include/mapviz/select_service_dialog.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // *****************************************************************************
   //
   // Copyright (c) 2015, Southwest Research Institute® (SwRI®)
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //     * Redistributions of source code must retain the above copyright
   //       notice, this list of conditions and the following disclaimer.
   //     * Redistributions in binary form must reproduce the above copyright
   //       notice, this list of conditions and the following disclaimer in the
   //       documentation and/or other materials provided with the distribution.
   //     * Neither the name of Southwest Research Institute® (SwRI®) nor the
   //       names of its contributors may be used to endorse or promote products
   //       derived from this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL Southwest Research Institute® BE LIABLE
   // FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
   // DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
   // SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
   // OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
   // DAMAGE.
   //
   // *****************************************************************************
   
   #ifndef MAPVIZ__SELECT_SERVICE_DIALOG_H_
   #define MAPVIZ__SELECT_SERVICE_DIALOG_H_
   
   #include <rclcpp/rclcpp.hpp>
   
   #include <QDialog>
   #include <QMetaType>
   #include <QThread>
   
   #include <memory>
   #include <set>
   #include <string>
   #include <vector>
   
   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(
       const std::shared_ptr<rclcpp::Node>& nh,
       const std::string& allowed_datatype,
       QObject* parent) :
       QThread(parent),
       nh_(nh),
       allowed_datatype_(allowed_datatype)
     {
     }
     void run() override;
   
   Q_SIGNALS:
     void servicesFetched(ServiceStringVector services);
     void fetchingFailed(const QString error_msg);
   
   private:
     std::shared_ptr<rclcpp::Node> nh_;
     const std::string& allowed_datatype_;
   };
   
   class SelectServiceDialog : public QDialog
   {
     Q_OBJECT
   public:
     static std::string selectService(rclcpp::Node::SharedPtr node, const std::string& datatype, QWidget* parent = 0);
   
     explicit SelectServiceDialog(const rclcpp::Node::SharedPtr& node,
         const std::string& datatype = "",
         QWidget* parent = nullptr);
     ~SelectServiceDialog() override;
   
     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 *) override;
     void closeEvent(QCloseEvent *) override;
   
     std::shared_ptr<rclcpp::Node> nh_;
   
     std::string allowed_datatype_;
     std::vector<std::string> displayed_services_;
     std::vector<std::string> known_services_;
   
     int fetch_services_timer_id_;
   
     QPushButton *cancel_button_;
     QListWidget *list_widget_;
     QLineEdit *name_filter_;
     QPushButton *ok_button_;
     std::shared_ptr<ServiceUpdaterThread> worker_thread_;
   };
   }   //  namespace mapviz
   
   #endif   //  MAPVIZ__SELECT_SERVICE_DIALOG_H_