Program Listing for File select_topic_dialog.h

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#ifndef MAPVIZ__SELECT_TOPIC_DIALOG_H_
#define MAPVIZ__SELECT_TOPIC_DIALOG_H_

#include <rclcpp/rclcpp.hpp>

#include <QDialog>

#include <map>
#include <memory>
#include <set>
#include <string>
#include <vector>

QT_BEGIN_NAMESPACE
class QLineEdit;
class QListWidget;
class QPushButton;
QT_END_NAMESPACE

namespace mapviz
{
class SelectTopicDialog : public QDialog
{
  Q_OBJECT;

 public:
  static std::string selectTopic(
    const rclcpp::Node::SharedPtr& node,
    const std::string &datatype,
    QWidget *parent = nullptr);

  static std::string selectTopic(
    const rclcpp::Node::SharedPtr& node,
    const std::string &datatype1,
    const std::string &datatype2,
    QWidget *parent = nullptr);

  static std::string selectTopic(
    const rclcpp::Node::SharedPtr& node,
    const std::vector<std::string> &datatypes,
    QWidget *parent = nullptr);

  static std::vector<std::string> selectTopics(
    const rclcpp::Node::SharedPtr& node,
    const std::string &datatype,
    QWidget *parent = nullptr);

  static std::vector<std::string> selectTopics(
    const rclcpp::Node::SharedPtr& node,
    const std::string &datatype1,
    const std::string &datatype2,
    QWidget *parent = nullptr);

  static std::vector<std::string> selectTopics(
    const rclcpp::Node::SharedPtr& node,
    const std::vector<std::string> &datatypes,
    QWidget *parent = nullptr);

  explicit SelectTopicDialog(const rclcpp::Node::SharedPtr& node,
      QWidget *parent = nullptr);

  void allowMultipleTopics(bool allow);

  void setDatatypeFilter(const std::vector<std::string> &datatypes);

  std::string selectedTopic() const;
  std::vector<std::string> selectedTopics() const;

 private:
  void timerEvent(QTimerEvent *) override;
  void closeEvent(QCloseEvent *) override;

  std::vector<std::string> filterTopics(
    const std::map<std::string, std::vector<std::string>> &) const;

 private Q_SLOTS:
  void fetchTopics();
  void updateDisplayedTopics();

 private:
  std::set<std::string> allowed_datatypes_;
  std::map<std::string, std::vector<std::string>> known_topics_;

  std::vector<std::string> displayed_topics_;
  int fetch_topics_timer_id_;

  std::shared_ptr<rclcpp::Node> nh_;   // This may need to be a shared instance of Mapviz's node

  QPushButton *ok_button_;
  QPushButton *cancel_button_;
  QListWidget *list_widget_;
  QLineEdit *name_filter_;
};  // class SelectTopicDialog
}  // namespace mapviz

#endif  // MAPVIZ__SELECT_TOPIC_DIALOG_H_