Program Listing for File select_service_dialog.h

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#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_