rviz common ros service property

rviz_common/CMakeLists.txt

@@ -111,6 +111,7 @@ set(rviz_common_headers_to_moc
   include/rviz_common/properties/property_tree_with_help.hpp
   include/rviz_common/properties/qos_profile_property.hpp
   include/rviz_common/properties/ros_action_property.hpp
+  include/rviz_common/properties/ros_service_property.hpp
   include/rviz_common/properties/ros_topic_property.hpp
   include/rviz_common/properties/status_list.hpp
   include/rviz_common/properties/status_property.hpp
@@ -192,6 +193,7 @@ set(rviz_common_source_files
   src/rviz_common/properties/property_tree_with_help.cpp
   src/rviz_common/properties/property.cpp
   src/rviz_common/properties/ros_action_property.cpp
+  src/rviz_common/properties/ros_service_property.cpp
   src/rviz_common/properties/ros_topic_property.cpp
   src/rviz_common/properties/quaternion_property.cpp
   src/rviz_common/properties/qos_profile_property.cpp

rviz_common/include/rviz_common/properties/ros_service_property.hpp

@@ -0,0 +1,113 @@
+// Copyright (c) 2025, Open Source Robotics Foundation, Inc.
+// 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 the copyright holder 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 THE COPYRIGHT HOLDER OR CONTRIBUTORS 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 RVIZ_COMMON__PROPERTIES__ROS_SERVICE_PROPERTY_HPP_
+#define RVIZ_COMMON__PROPERTIES__ROS_SERVICE_PROPERTY_HPP_
+
+#include <QObject>
+#include <QRegExp>
+#include <QString>
+
+#include <memory>
+#include <string>
+
+#include "rviz_common/properties/editable_enum_property.hpp"
+#include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
+#include "rviz_common/visibility_control.hpp"
+
+namespace rviz_common
+{
+namespace properties
+{
+
+class RVIZ_COMMON_PUBLIC RosServiceProperty : public EditableEnumProperty
+{
+  Q_OBJECT
+
+public:
+  explicit RosServiceProperty(
+    const QString & name = QString(),
+    const QString & default_value = QString(),
+    const QString & service_type = QString(),
+    const QString & description = QString(),
+    Property * parent = nullptr,
+    const char * changed_slot = nullptr,
+    QObject * receiver = nullptr);
+
+  void initialize(ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node);
+
+  void setServiceType(const QString & service_type);
+
+  QString getServiceType() const;
+
+  QString getService() const;
+
+  std::string getServiceStd() const;
+
+  bool isEmpty() const;
+
+protected Q_SLOTS:
+  virtual void fillServiceList();
+
+private:
+  ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node_;
+  QString service_type_;
+};
+
+class RVIZ_COMMON_PUBLIC RosFilteredServiceProperty
+  : public rviz_common::properties::RosServiceProperty
+{
+  Q_OBJECT
+
+public:
+  RosFilteredServiceProperty(
+    const QString & name = QString(),
+    const QString & default_value = QString(),
+    const QString & service_type = QString(),
+    const QString & description = QString(),
+    const QRegExp & filter = QRegExp(),
+    Property * parent = 0,
+    const char * changed_slot = 0,
+    QObject * receiver = 0);
+
+  void enableFilter(bool enabled);
+
+  QRegExp filter() const;
+
+protected Q_SLOTS:
+  void fillServiceList() override;
+
+private:
+  QRegExp filter_;
+  bool filter_enabled_;
+};
+
+}  // end namespace properties
+}  // end namespace rviz_common
+
+#endif  // RVIZ_COMMON__PROPERTIES__ROS_SERVICE_PROPERTY_HPP_

rviz_common/include/rviz_common/ros_integration/ros_node_abstraction.hpp

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

rviz_common/include/rviz_common/ros_integration/ros_node_abstraction_iface.hpp

@@ -56,6 +56,9 @@ class RosNodeAbstractionIface
   virtual std::map<std::string, std::vector<std::string>>
   get_topic_names_and_types() const = 0;
 
+  virtual std::map<std::string, std::vector<std::string>>
+  get_service_names_and_types() const = 0;
+
   // TODO(anhosi): remove once the RosNodeAbstraction is extended to handle subscriptions
   //               and clock
   virtual rclcpp::Node::SharedPtr

rviz_common/src/rviz_common/properties/ros_service_property.cpp

@@ -0,0 +1,155 @@
+// Copyright (c) 2025, Open Source Robotics Foundation, Inc.
+// 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 the copyright holder 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 THE COPYRIGHT HOLDER OR CONTRIBUTORS 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.
+
+#include <map>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <QApplication>  // NOLINT: cpplint can't handle Qt imports
+#include <QObject>  // NOLINT: cpplint can't handle Qt imports
+#include <QRegExp>  // NOLINT: cpplint can't handle Qt imports
+#include <QString>  // NOLINT: cpplint can't handle Qt imports
+#include <QStringList>  // NOLINT: cpplint can't handle Qt imports
+
+#include "rviz_common/properties/ros_service_property.hpp"
+#include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
+
+namespace rviz_common
+{
+namespace properties
+{
+
+RosServiceProperty::RosServiceProperty(
+  const QString & name,
+  const QString & default_value,
+  const QString & service_type,
+  const QString & description,
+  Property * parent,
+  const char * changed_slot,
+  QObject * receiver)
+: EditableEnumProperty(name, default_value, description, parent, changed_slot, receiver),
+  rviz_ros_node_(),
+  service_type_(service_type)
+{
+  connect(
+    this, SIGNAL(requestOptions(EditableEnumProperty*)),
+    this, SLOT(fillServiceList()));
+}
+
+void RosServiceProperty::initialize(ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node)
+{
+  rviz_ros_node_ = rviz_ros_node;
+}
+
+void RosServiceProperty::setServiceType(const QString & service_type)
+{
+  service_type_ = service_type;
+}
+
+QString RosServiceProperty::getServiceType() const
+{
+  return service_type_;
+}
+
+QString RosServiceProperty::getService() const
+{
+  return getValue().toString();
+}
+
+std::string RosServiceProperty::getServiceStd() const
+{
+  return getValue().toString().toStdString();
+}
+
+bool RosServiceProperty::isEmpty() const
+{
+  return getServiceStd().empty();
+}
+
+void RosServiceProperty::fillServiceList()
+{
+  QApplication::setOverrideCursor(QCursor(Qt::WaitCursor));
+  clearOptions();
+
+  std::string std_service_type = service_type_.toStdString();
+  std::map<std::string, std::vector<std::string>> service_servers =
+    rviz_ros_node_.lock()->get_service_names_and_types();
+
+  for (const auto & service : service_servers) {
+    // Only add service whose type matches.
+    for (const auto & type : service.second) {
+      if (type == std_service_type) {
+        addOptionStd(service.first);
+      }
+    }
+  }
+  sortOptions();
+  QApplication::restoreOverrideCursor();
+}
+
+RosFilteredServiceProperty::RosFilteredServiceProperty(
+  const QString & name,
+  const QString & default_value,
+  const QString & service_type,
+  const QString & description,
+  const QRegExp & filter,
+  Property * parent,
+  const char * changed_slot,
+  QObject * receiver)
+: RosServiceProperty(name, default_value, service_type, description, parent, changed_slot, receiver)
+  , filter_(filter)
+  , filter_enabled_(true)
+{
+}
+
+void RosFilteredServiceProperty::enableFilter(bool enabled)
+{
+  filter_enabled_ = enabled;
+  fillServiceList();
+}
+
+QRegExp RosFilteredServiceProperty::filter() const
+{
+  return filter_;
+}
+
+void RosFilteredServiceProperty::fillServiceList()
+{
+  QStringList filtered_strings_;
+
+  // Obtain list of available services
+  RosServiceProperty::fillServiceList();
+  // Apply filter
+  if (filter_enabled_) {
+    strings_ = strings_.filter(filter_);
+  }
+}
+}  // end namespace properties
+}  // end namespace rviz_common

rviz_common/src/rviz_common/ros_integration/ros_node_abstraction.cpp

@@ -62,5 +62,11 @@ RosNodeAbstraction::get_topic_names_and_types() const
   return raw_node_->get_topic_names_and_types();
 }
 
+std::map<std::string, std::vector<std::string>>
+RosNodeAbstraction::get_service_names_and_types() const
+{
+  return raw_node_->get_service_names_and_types();
+}
+
 }  // namespace ros_integration
 }  // namespace rviz_common