service.h

// Wrapper for service calls
// Author: Dmytro Pavlichenko dm.mark999@gmail.com

#ifndef SERVICE_H
#define SERVICE_H

#include <string>
#include <QDoubleSpinBox>
#include <QLineEdit>

namespace control_widget
{

namespace service
{
    
    namespace color
    {
        static const QString failure = QString("Red");
        static const QString success = QString("Green");
        static const QString input = QString("Blue");
        static const QString output = QString("MediumVioletRed");
    };

// Base class
class Service
{ 
public:
    Service(std::string name);
    virtual ~Service();
    
    virtual bool call(QStringList &output);
    
protected:
    template<typename Req, typename Res>
    bool callService(Req &request, Res &response, QStringList &output);
    
    template<typename Req>
    bool callService(Req &request, QStringList &output);
    
    void prependTime(QString &text) const;
    QString separator() const;
    void setHtmlColor(QString &text, QString color) const;
    
protected:
    std::string serviceName;
};


class ResetConfig : public Service
{
public:
    ResetConfig(std::string name);
    bool call(QStringList &output);
};

class SaveConfig : public Service
{
public:
    SaveConfig(std::string name);
    bool call(QStringList &output);
};

class AttEstCalib : public Service
{
public:
    AttEstCalib(std::string name);
    bool call(QStringList &output);
};

class ShowDeadVars : public Service
{
public:
    ShowDeadVars(std::string name, QLineEdit *path_);
    bool call(QStringList &output);
    
private:
    QLineEdit *path;
};

class MagCalib2D : public Service
{
public:
    MagCalib2D(std::string name);
    bool call(QStringList &output);
};

class MagCalib3D : public Service
{
public:
    MagCalib3D(std::string name);
    bool call(QStringList &output);
};

class MagCalibShow : public Service
{
public:
    MagCalibShow(std::string name);
    bool call(QStringList &output);
};

class WarpAddPoint : public Service
{
public:
    WarpAddPoint(std::string name, float value_); // value_ must be in degrees
    bool call(QStringList &output);
    
private:
    float value;
};

class SetOdom : public Service
{
public:
    SetOdom(std::string name, QDoubleSpinBox *x_, QDoubleSpinBox *y_, QDoubleSpinBox *theta_);
    bool call(QStringList &output);

private:
    QDoubleSpinBox *x;
    QDoubleSpinBox *y;
    QDoubleSpinBox *theta;
};

class ReadOffset : public Service
{
public:
    ReadOffset(std::string name, QLineEdit *joint_);
    bool call(QStringList &output);

private:
    QLineEdit *joint;
};

class UseLastServerIP : public Service
{
public:
    UseLastServerIP(std::string name);
    bool call(QStringList &output);
};

class Empty : public Service
{
public:
    Empty(std::string name);
    bool call(QStringList &output);
};

}

}

#endif