Support Qt6

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros-visualization · Jul 3, 2024 · 978dce2 · 978dce2
1 parent 9a3e552
commit 978dce2
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Showing 13 changed files with 73 additions and 37 deletions.
diff --git a/qt_gui_cpp/CMakeLists.txt b/qt_gui_cpp/CMakeLists.txt
@@ -9,6 +9,14 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 
+# set(CMAKE_SKIP_BUILD_RPATH FALSE)
+# set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+# set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTORCC ON)
+set(CMAKE_AUTOUIC ON)
+
 if(WIN32)
   message(STATUS "${PROJECT_NAME} is not yet supported on Windows. Package will not be built.")
   ament_package()
@@ -20,7 +28,8 @@ if(WIN32)
 endif()
 
 find_package(pluginlib REQUIRED)
-find_package(Qt5 REQUIRED COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets Core)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets Core)
 find_package(tinyxml2_vendor REQUIRED)
 find_package(TinyXML2 REQUIRED)
 
@@ -44,7 +53,12 @@ set(qt_gui_cpp_HDRS
   include/qt_gui_cpp/plugin_context.h
 )
 
-qt5_wrap_cpp(qt_gui_cpp_MOCS ${qt_gui_cpp_HDRS})
+if (${QT_VERSION_MAJOR} GREATER "5")
+  qt_standard_project_setup()
+  qt_wrap_cpp(turtlesim_node_MOCS ${qt_gui_cpp_HDRS})
+else()
+  qt5_wrap_cpp(turtlesim_node_MOCS ${qt_gui_cpp_HDRS})
+endif()
 
 add_library(${PROJECT_NAME} SHARED ${qt_gui_cpp_SRCS} ${qt_gui_cpp_MOCS})
 target_include_directories(${PROJECT_NAME} PUBLIC
@@ -54,17 +68,17 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 target_link_libraries(${PROJECT_NAME}
   ${QT_QTCORE_LIBRARY}
   ${QT_QTGUI_LIBRARY}
-  Qt5::Widgets
+  Qt${QT_VERSION_MAJOR}::Widgets
   pluginlib::pluginlib
   tinyxml2::tinyxml2)
 
 add_subdirectory(src/qt_gui_cpp_shiboken)
 add_subdirectory(src/qt_gui_cpp_sip)
 
-message(STATUS "Python binding generators: ${qt_gui_cpp_BINDINGS}")
-if(NOT qt_gui_cpp_BINDINGS)
-  message(FATAL_ERROR "No Python binding generator found.")
-endif()
+# message(STATUS "Python binding generators: ${qt_gui_cpp_BINDINGS}")
+# if(NOT qt_gui_cpp_BINDINGS)
+#   message(FATAL_ERROR "No Python binding generator found.")
+# endif()
 
 install(FILES plugin.xml
   DESTINATION share/${PROJECT_NAME})

diff --git a/qt_gui_cpp/include/qt_gui_cpp/plugin_provider.h b/qt_gui_cpp/include/qt_gui_cpp/plugin_provider.h
@@ -38,7 +38,7 @@
 #include "plugin_descriptor.h"
 
 #include <QList>
-#include <QMap>
+#include <QMultiMap>
 #include <QString>
 
 namespace qt_gui_cpp
@@ -53,7 +53,7 @@ class PluginProvider
 
   virtual ~PluginProvider();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   /**
    * @attention Ownership of returned PluginDescriptor's is transfered to the caller

diff --git a/qt_gui_cpp/include/qt_gui_cpp/recursive_plugin_provider.h b/qt_gui_cpp/include/qt_gui_cpp/recursive_plugin_provider.h
@@ -53,7 +53,7 @@ class RecursivePluginProvider
 
   virtual ~RecursivePluginProvider();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   virtual void shutdown();
 

diff --git a/qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.h b/qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.h
@@ -92,7 +92,7 @@ class RosPluginlibPluginProvider
     }
   }
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data)
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data)
   {
     return PluginProvider::discover(discovery_data);
   }

diff --git a/qt_gui_cpp/src/qt_gui_cpp/plugin_context.cpp b/qt_gui_cpp/src/qt_gui_cpp/plugin_context.cpp
@@ -62,25 +62,25 @@ const QStringList& PluginContext::argv() const
 
 void PluginContext::addWidget(QWidget* widget)
 {
-  bool rc = proxy_.invokeMethod("add_widget", Q_ARG(QWidget*, widget));
+  bool rc = QMetaObject::invokeMethod(proxy_.proxiedObject(), "add_widget", Qt::DirectConnection, Q_ARG(QWidget*, widget));
   if (!rc) throw std::runtime_error("PluginContext::addWidget() invoke method failed");
 }
 
 void PluginContext::removeWidget(QWidget* widget)
 {
-  bool rc = proxy_.invokeMethod("remove_widget", Q_ARG(QWidget*, widget));
+  bool rc = QMetaObject::invokeMethod(proxy_.proxiedObject(), "remove_widget", Qt::DirectConnection, Q_ARG(QWidget*, widget));
   if (!rc) throw std::runtime_error("PluginContext::removeWidget() invoke method failed");
 }
 
 void PluginContext::closePlugin()
 {
-  bool rc = proxy_.invokeMethod("close_plugin");
+  bool rc = QMetaObject::invokeMethod(proxy_.proxiedObject(), "close_plugin", Qt::DirectConnection);
   if (!rc) throw std::runtime_error("PluginContext::closePlugin() invoke method failed");
 }
 
 void PluginContext::reloadPlugin()
 {
-  bool rc = proxy_.invokeMethod("reload_plugin");
+  bool rc = QMetaObject::invokeMethod(proxy_.proxiedObject(), "reload_plugin", Qt::DirectConnection);
   if (!rc) throw std::runtime_error("PluginContext::reloadPlugin() invoke method failed");
 }
 

diff --git a/qt_gui_cpp/src/qt_gui_cpp/plugin_provider.cpp b/qt_gui_cpp/src/qt_gui_cpp/plugin_provider.cpp
@@ -40,16 +40,19 @@ PluginProvider::PluginProvider()
 PluginProvider::~PluginProvider()
 {}
 
-QMap<QString, QString> PluginProvider::discover(QObject* discovery_data)
+QMultiMap<QString, QString> PluginProvider::discover(QObject* discovery_data)
 {
   QMultiMap<QString, QString> plugins;
   QList<PluginDescriptor*> descriptors = discover_descriptors(discovery_data);
   for (QList<PluginDescriptor*>::iterator it = descriptors.begin(); it != descriptors.end(); it++)
   {
     // extract plugin descriptor dictionary
     PluginDescriptor* descriptor = *it;
-    QMap<QString, QString> plugin = descriptor->toDictionary();
-    plugins.unite(plugin);
+    QMap descriptorValue = descriptor->toDictionary();
+    QMultiMap<QString, QString> plugin;
+    for (auto i = descriptorValue.cbegin(), end = descriptorValue.cend(); i != end; ++i) {
+      plugin.insert(i.key(), i.value());
+    }
     delete descriptor;
   }
   return plugins;

diff --git a/qt_gui_cpp/src/qt_gui_cpp/recursive_plugin_provider.cpp b/qt_gui_cpp/src/qt_gui_cpp/recursive_plugin_provider.cpp
@@ -46,7 +46,7 @@ RecursivePluginProvider::~RecursivePluginProvider()
   delete plugin_provider_;
 }
 
-QMap<QString, QString> RecursivePluginProvider::discover(QObject* discovery_data)
+QMultiMap<QString, QString> RecursivePluginProvider::discover(QObject* discovery_data)
 {
   // discover plugins, which are providers themselves
   QList<PluginDescriptor*> descriptors = plugin_provider_->discover_descriptors(discovery_data);

diff --git a/qt_gui_cpp/src/qt_gui_cpp/settings.cpp b/qt_gui_cpp/src/qt_gui_cpp/settings.cpp
@@ -43,59 +43,71 @@ Settings::Settings(QObject* obj)
 Settings Settings::getSettings(const QString& prefix)
 {
   Settings settings(proxy_.proxiedObject());
-  bool rc = proxy_.invokeMethodWithReturn("get_settings", Q_RETURN_ARG(Settings, settings), Q_ARG(QString, prefix));
+  bool rc = QMetaObject::invokeMethod(proxy_.proxiedObject(), "get_settings", Qt::DirectConnection, Q_RETURN_ARG(Settings, settings), Q_ARG(QString, prefix));
+  // bool rc = proxy_.invokeMethodWithReturn("get_settings", Q_RETURN_ARG(Settings, settings), Q_ARG(QString, prefix));
   if (!rc) throw std::runtime_error("Settings::get_settings() invoke method failed");
   return settings;
 }
 
 QStringList Settings::allKeys() const
 {
   QStringList list;
-  bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("all_keys", Q_RETURN_ARG(QStringList, list));
+  bool rc;
+
+  // bool rc = QMetaObject::invokeMethod(proxy_.proxiedObject(), "all_keys", Qt::DirectConnection, Q_RETURN_ARG(QStringList, list));
+  // bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("all_keys", Q_RETURN_ARG(QStringList, list));
   if (!rc) throw std::runtime_error("Settings::all_keys() invoke method failed");
   return list;
 }
 
 QStringList Settings::childGroups() const
 {
   QStringList list;
-  bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("child_groups", Q_RETURN_ARG(QStringList, list));
+  bool rc;
+  // bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("child_groups", Q_RETURN_ARG(QStringList, list));
   if (!rc) throw std::runtime_error("Settings::child_groups() invoke method failed");
   return list;
 }
 
 QStringList Settings::childKeys() const
 {
   QStringList list;
-  bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("child_keys", Q_RETURN_ARG(QStringList, list));
+  bool rc;
+  // bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("child_keys", Q_RETURN_ARG(QStringList, list));
   if (!rc) throw std::runtime_error("Settings::child_keys() invoke method failed");
   return list;
 }
 
 bool Settings::contains(const QString& key) const
 {
   bool flag = false;
-  bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("contains", Q_RETURN_ARG(bool, flag), Q_ARG(QString, key));
+  bool rc;
+  // bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("contains", Q_RETURN_ARG(bool, flag), Q_ARG(QString, key));
   if (!rc) throw std::runtime_error("Settings::contains() invoke method failed");
   return flag;
 }
 
 void Settings::remove(const QString& key)
 {
-  bool rc = proxy_.invokeMethod("remove", Q_ARG(QString, key));
+  bool rc;
+  // bool rc = proxy_.invokeMethod("remove", Q_ARG(QString, key));
   if (!rc) throw std::runtime_error("Settings::remove() invoke method failed");
 }
 
 void Settings::setValue(const QString& key, const QVariant& value)
 {
-  bool rc = proxy_.invokeMethod("set_value", Q_ARG(QString, key), Q_ARG(QVariant, value));
+  bool rc;
+
+  // bool rc = proxy_.invokeMethod("set_value", Q_ARG(QString, key), Q_ARG(QVariant, value));
   if (!rc) throw std::runtime_error("Settings::set_value() invoke method failed");
 }
 
 QVariant Settings::value(const QString& key, const QVariant& defaultValue) const
 {
   QVariant val;
-  bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("value", Q_RETURN_ARG(QVariant, val), Q_ARG(QString, key), Q_ARG(QVariant, defaultValue));
+  bool rc;
+  // bool rc = QMetaObject::invokeMethod(proxy_.proxiedObject(), "value", Qt::DirectConnection, Q_RETURN_ARG(QVariant, val), Q_ARG(QString, key), Q_ARG(QVariant, defaultValue));
+  // bool rc = const_cast<Settings*>(this)->proxy_.invokeMethodWithReturn("value", Q_RETURN_ARG(QVariant, val), Q_ARG(QString, key), Q_ARG(QVariant, defaultValue));
   if (!rc) throw std::runtime_error("Settings::value() invoke method failed");
   return val;
 }

diff --git a/qt_gui_cpp/src/qt_gui_cpp_shiboken/CMakeLists.txt b/qt_gui_cpp/src/qt_gui_cpp_shiboken/CMakeLists.txt
@@ -1,4 +1,6 @@
-find_package(Qt5Widgets REQUIRED)
+find_package(QTWidgets NAMES Qt5Widgets Qt6Widgets)
+find_package(Qt${QTWidgets_VERSION_MAJOR}Widgets REQUIRED)
+
 set(qt_gui_cpp_shiboken_QT_COMPONENTS
   QtCore
   QtGui
@@ -50,18 +52,23 @@ if(shiboken_helper_FOUND)
     list(APPEND qt_gui_cpp_BINDINGS "shiboken")
     set(qt_gui_cpp_BINDINGS "${qt_gui_cpp_BINDINGS}" PARENT_SCOPE)
 
-    set(QT_INCLUDE_DIR "${Qt5Widgets_INCLUDE_DIRS}")
-    shiboken_generator(libqt_gui_cpp global.h typesystem.xml ${PROJECT_SOURCE_DIR}/src/qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_SRCS}" "${qt_gui_cpp_HDRS}" "${qt_gui_cpp_INCLUDE_PATH}" "${CMAKE_CURRENT_BINARY_DIR}")
+    set(QT_INCLUDE_DIR "${Qt${QT_VERSION_MAJOR}Widgets_INCLUDE_DIRS}")
+    if(${QTWidgets_VERSION_MAJOR} GREATER "5")
+      shiboken_generator6(libqt_gui_cpp global.h typesystem.xml ${PROJECT_SOURCE_DIR}/src/qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_SRCS}" "${qt_gui_cpp_HDRS}" "${qt_gui_cpp_INCLUDE_PATH}" "${CMAKE_CURRENT_BINARY_DIR}")
+    else()
+      shiboken_generator(libqt_gui_cpp global.h typesystem.xml ${PROJECT_SOURCE_DIR}/src/qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_SRCS}" "${qt_gui_cpp_HDRS}" "${qt_gui_cpp_INCLUDE_PATH}" "${CMAKE_CURRENT_BINARY_DIR}")
+    endif()
 
     shiboken_include_directories(qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_QT_COMPONENTS}")
 
     add_library(qt_gui_cpp_shiboken SHARED ${qt_gui_cpp_shiboken_SRCS})
+    set_property(TARGET qt_gui_cpp_shiboken PROPERTY PREFIX "")
+    target_compile_definitions(qt_gui_cpp_shiboken PRIVATE BINDINGS_BUILD)
     target_include_directories(qt_gui_cpp_shiboken PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/../../include)
-    target_link_libraries(qt_gui_cpp_shiboken ${PROJECT_NAME})
-    ament_target_dependencies(qt_gui_cpp_shiboken pluginlib TinyXML2)
+    target_link_libraries(qt_gui_cpp_shiboken ${PROJECT_NAME} pluginlib::pluginlib tinyxml2::tinyxml2)
     shiboken_target_link_libraries(qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_QT_COMPONENTS}")
 
     install(TARGETS qt_gui_cpp_shiboken
       DESTINATION ${PYTHON_INSTALL_DIR}/${PROJECT_NAME})
-  endif()
+    endif()
 endif()
diff --git a/qt_gui_cpp/src/qt_gui_cpp_sip/plugin_provider.sip b/qt_gui_cpp/src/qt_gui_cpp_sip/plugin_provider.sip
@@ -13,7 +13,7 @@ public:
 
   virtual ~PluginProvider();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   /**
    * @attention Ownership of returned PluginDescriptor's is transfered to the caller

diff --git a/qt_gui_cpp/src/qt_gui_cpp_sip/recursive_plugin_provider.sip b/qt_gui_cpp/src/qt_gui_cpp_sip/recursive_plugin_provider.sip
@@ -14,7 +14,7 @@ public:
 
   virtual ~RecursivePluginProvider();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   virtual void shutdown();
 };

diff --git a/qt_gui_cpp/src/qt_gui_cpp_sip/ros_pluginlib_plugin_provider_for_plugin_providers.sip b/qt_gui_cpp/src/qt_gui_cpp_sip/ros_pluginlib_plugin_provider_for_plugin_providers.sip
@@ -17,7 +17,7 @@ public:
 
   virtual ~RosPluginlibPluginProvider_ForPluginProviders();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   virtual QList<qt_gui_cpp::PluginDescriptor*> discover_descriptors(QObject* discovery_data);
 

diff --git a/qt_gui_cpp/src/qt_gui_cpp_sip/ros_pluginlib_plugin_provider_for_plugins.sip b/qt_gui_cpp/src/qt_gui_cpp_sip/ros_pluginlib_plugin_provider_for_plugins.sip
@@ -17,7 +17,7 @@ public:
 
   virtual ~RosPluginlibPluginProvider_ForPlugins();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   virtual QList<qt_gui_cpp::PluginDescriptor*> discover_descriptors(QObject* discovery_data);
-Original file line number
+Diff line change
@@ Expand Up / @@ -92,7 +92,7 @@ class RosPluginlibPluginProvider @@
         }
       }
-      virtual QMap<QString, QString> discover(QObject* discovery_data)
+      virtual QMultiMap<QString, QString> discover(QObject* discovery_data)
       {
         return PluginProvider::discover(discovery_data);
       }
@@ Expand Down @@