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jsupratman13ahcorde
jsupratman13
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ahcorde
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rviz common ros service property (#1548)
Signed-off-by: Joshua Supratman <[email protected]> Signed-off-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
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‎rviz_common/CMakeLists.txt‎

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@@ -111,6 +111,7 @@ set(rviz_common_headers_to_moc
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include/rviz_common/properties/property_tree_with_help.hpp
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include/rviz_common/properties/qos_profile_property.hpp
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include/rviz_common/properties/ros_action_property.hpp
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include/rviz_common/properties/ros_service_property.hpp
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include/rviz_common/properties/ros_topic_property.hpp
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include/rviz_common/properties/status_list.hpp
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include/rviz_common/properties/status_property.hpp
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src/rviz_common/properties/property_tree_with_help.cpp
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src/rviz_common/properties/property.cpp
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src/rviz_common/properties/ros_action_property.cpp
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src/rviz_common/properties/ros_service_property.cpp
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src/rviz_common/properties/ros_topic_property.cpp
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src/rviz_common/properties/quaternion_property.cpp
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src/rviz_common/properties/qos_profile_property.cpp

‎rviz_common/include/rviz_common/properties/ros_service_property.hpp‎

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// Copyright (c) 2025, Open Source Robotics Foundation, Inc.
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the copyright holder nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#ifndef RVIZ_COMMON__PROPERTIES__ROS_SERVICE_PROPERTY_HPP_
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#define RVIZ_COMMON__PROPERTIES__ROS_SERVICE_PROPERTY_HPP_
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#include <QObject>
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#include <QRegExp>
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#include <QString>
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#include <memory>
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#include <string>
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#include "rviz_common/properties/editable_enum_property.hpp"
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#include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
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#include "rviz_common/visibility_control.hpp"
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namespace rviz_common
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{
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namespace properties
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{
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class RVIZ_COMMON_PUBLIC RosServiceProperty : public EditableEnumProperty
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{
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Q_OBJECT
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public:
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explicit RosServiceProperty(
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const QString & name = QString(),
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const QString & default_value = QString(),
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const QString & service_type = QString(),
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const QString & description = QString(),
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Property * parent = nullptr,
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const char * changed_slot = nullptr,
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QObject * receiver = nullptr);
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void initialize(ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node);
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void setServiceType(const QString & service_type);
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QString getServiceType() const;
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QString getService() const;
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std::string getServiceStd() const;
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bool isEmpty() const;
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protected Q_SLOTS:
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virtual void fillServiceList();
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private:
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ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node_;
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QString service_type_;
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};
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class RVIZ_COMMON_PUBLIC RosFilteredServiceProperty
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: public rviz_common::properties::RosServiceProperty
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{
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Q_OBJECT
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public:
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RosFilteredServiceProperty(
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const QString & name = QString(),
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const QString & default_value = QString(),
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const QString & service_type = QString(),
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const QString & description = QString(),
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const QRegExp & filter = QRegExp(),
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Property * parent = 0,
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const char * changed_slot = 0,
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QObject * receiver = 0);
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void enableFilter(bool enabled);
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QRegExp filter() const;
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protected Q_SLOTS:
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void fillServiceList() override;
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private:
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QRegExp filter_;
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bool filter_enabled_;
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};
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} // end namespace properties
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} // end namespace rviz_common
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#endif // RVIZ_COMMON__PROPERTIES__ROS_SERVICE_PROPERTY_HPP_

‎rviz_common/include/rviz_common/ros_integration/ros_node_abstraction.hpp‎

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@@ -85,6 +85,16 @@ class RosNodeAbstraction : public RosNodeAbstractionIface
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std::map<std::string, std::vector<std::string>>
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get_topic_names_and_types() const override;
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/// Return a map with service names mapped to a list of types for that service.
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/**
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* The node name is what was given when initializing this API.
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*
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* \return map of service names and their types
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*/
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RVIZ_COMMON_PUBLIC
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std::map<std::string, std::vector<std::string>>
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get_service_names_and_types() const override;
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// TODO(wjwwood): think about a suitable way to extend the abstraction to also cover subscriptions
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RVIZ_COMMON_PUBLIC
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rclcpp::Node::SharedPtr

‎rviz_common/include/rviz_common/ros_integration/ros_node_abstraction_iface.hpp‎

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virtual std::map<std::string, std::vector<std::string>>
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get_topic_names_and_types() const = 0;
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virtual std::map<std::string, std::vector<std::string>>
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get_service_names_and_types() const = 0;
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// TODO(anhosi): remove once the RosNodeAbstraction is extended to handle subscriptions
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// and clock
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virtual rclcpp::Node::SharedPtr

‎rviz_common/src/rviz_common/properties/ros_service_property.cpp‎

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// Copyright (c) 2025, Open Source Robotics Foundation, Inc.
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the copyright holder nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#include <map>
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#include <memory>
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#include <string>
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#include <vector>
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#include <QApplication> // NOLINT: cpplint can't handle Qt imports
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#include <QObject> // NOLINT: cpplint can't handle Qt imports
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#include <QRegExp> // NOLINT: cpplint can't handle Qt imports
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#include <QString> // NOLINT: cpplint can't handle Qt imports
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#include <QStringList> // NOLINT: cpplint can't handle Qt imports
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#include "rviz_common/properties/ros_service_property.hpp"
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#include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
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namespace rviz_common
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{
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namespace properties
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{
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RosServiceProperty::RosServiceProperty(
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const QString & name,
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const QString & default_value,
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const QString & service_type,
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const QString & description,
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Property * parent,
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const char * changed_slot,
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QObject * receiver)
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: EditableEnumProperty(name, default_value, description, parent, changed_slot, receiver),
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rviz_ros_node_(),
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service_type_(service_type)
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{
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connect(
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this, SIGNAL(requestOptions(EditableEnumProperty*)),
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this, SLOT(fillServiceList()));
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}
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void RosServiceProperty::initialize(ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node)
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{
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rviz_ros_node_ = rviz_ros_node;
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}
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void RosServiceProperty::setServiceType(const QString & service_type)
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{
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service_type_ = service_type;
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}
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QString RosServiceProperty::getServiceType() const
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{
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return service_type_;
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}
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QString RosServiceProperty::getService() const
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{
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return getValue().toString();
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}
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std::string RosServiceProperty::getServiceStd() const
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{
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return getValue().toString().toStdString();
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}
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bool RosServiceProperty::isEmpty() const
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{
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return getServiceStd().empty();
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}
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void RosServiceProperty::fillServiceList()
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{
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QApplication::setOverrideCursor(QCursor(Qt::WaitCursor));
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clearOptions();
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std::string std_service_type = service_type_.toStdString();
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std::map<std::string, std::vector<std::string>> service_servers =
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rviz_ros_node_.lock()->get_service_names_and_types();
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for (const auto & service : service_servers) {
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// Only add service whose type matches.
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for (const auto & type : service.second) {
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if (type == std_service_type) {
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addOptionStd(service.first);
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}
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}
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}
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sortOptions();
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QApplication::restoreOverrideCursor();
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}
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RosFilteredServiceProperty::RosFilteredServiceProperty(
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const QString & name,
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const QString & default_value,
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const QString & service_type,
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const QString & description,
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const QRegExp & filter,
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Property * parent,
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const char * changed_slot,
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QObject * receiver)
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: RosServiceProperty(name, default_value, service_type, description, parent, changed_slot, receiver)
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, filter_(filter)
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, filter_enabled_(true)
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{
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}
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void RosFilteredServiceProperty::enableFilter(bool enabled)
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{
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filter_enabled_ = enabled;
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fillServiceList();
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}
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QRegExp RosFilteredServiceProperty::filter() const
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{
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return filter_;
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}
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void RosFilteredServiceProperty::fillServiceList()
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{
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QStringList filtered_strings_;
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// Obtain list of available services
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RosServiceProperty::fillServiceList();
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// Apply filter
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if (filter_enabled_) {
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strings_ = strings_.filter(filter_);
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}
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}
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} // end namespace properties
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} // end namespace rviz_common

‎rviz_common/src/rviz_common/ros_integration/ros_node_abstraction.cpp‎

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return raw_node_->get_topic_names_and_types();
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}
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std::map<std::string, std::vector<std::string>>
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RosNodeAbstraction::get_service_names_and_types() const
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{
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return raw_node_->get_service_names_and_types();
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}
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} // namespace ros_integration
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} // namespace rviz_common

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