Ok I've actually got this working by using the code below.
My autocomplete action
public function groomappointserviceAction()
{
$this->_helper->layout->disableLayout();
$this->getHelper('viewRenderer')->setNoRender(true);
// get a list of all grooming services IDs and related procedures
$gqry= Doctrine_Query::create()
->select('g.groomServicesID, p.groomprocedure AS name')
->from('PetManager_Model_Groomservices g')
->leftJoin('g.PetManager_Model_Groomprocedures');
$result = $gqry->fetchArray();
//generate and return JSON string
$data = new Zend_Dojo_Data('groomServicesID',$result);
echo $data->toJson();
}
The FilteringSelect on my form
// Create a autocomplete select input for the grooming
$gservice = new Zend_Dojo_Form_Element_FilteringSelect('gapmtService');
$gservice->setLabel('Proceedure');
$gservice->setOptions(array(
'autocomplete' => true,
'storeID' => 'groomappointserviceStore',
'storeType' => 'dojo.data.ItemFileReadStore',
'storeParams' => array('url' =>
"/groomappointments/appointment/groomappointservice"),
'dijitParams' => array('searchAttr' => 'name')))
->setRequired(true)
->addValidator('NotEmpty', true)
->addFilter('HTMLEntities')
->addFilter('StringToLower')
->addFilter('StringTrim');
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