Merge pull request bitcraze#676 from bitcraze/krichardsson/qt6-v2

Switch to Qt6

docs/development/dev_info_client.md

@@ -10,7 +10,7 @@ same kind of information is available here for the Crazyflie Python API.
 
 Here\'s a quick overview:
 
--   The GUI is made in QT5 (using QTDesigner 4 and loading the .ui files
+-   The GUI is made in QT6 (using QTDesigner and loading the .ui files
     at runtime)
 -   It uses the SDL2 to read input devices on Windows/Mac OSX and raw
     jsdevs on Linux. It also supports custom input from

setup.py

@@ -95,13 +95,11 @@ def relative(lst, base=''):
                       'pyzmq~=25.0',
                       'pyqtgraph~=0.11',
                       'PyYAML~=6.0.1',
-                      'qasync~=0.23.0',
-                      'qtm~=2.1.1',
                       'numpy>=1.20,<1.25',
                       'vispy~=0.13.0',
                       'pyserial~=3.5',
-                      'pyqt5~=5.15.0',
-                      'PyQt5-sip>=12.9.0',
+                      'pyqt6~=6.5',
+                      'PyQt6-sip~=13.5',
 
                       'pysdl2~=0.9.14 ; platform_system=="Windows" or platform_system=="Darwin"',
                       'pysdl2-dll==2.24.0 ; platform_system=="Windows" or platform_system=="Darwin"'],

src/cfclient/gui.py

@@ -6,7 +6,7 @@
 #  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
 #   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
 #
-#  Copyright (C) 2011-2013 Bitcraze AB
+#  Copyright (C) 2011-2023 Bitcraze AB
 #
 #  Crazyflie Nano Quadcopter Client
 #
@@ -29,14 +29,12 @@
 import platform
 import sys
 import os
-import asyncio
 import argparse
 import datetime
 import signal
 
 import logging
 
-from qasync import QEventLoop
 import cfclient
 
 __author__ = 'Bitcraze AB'
@@ -69,8 +67,8 @@ def main():
         os.environ['DYLD_FALLBACK_LIBRARY_PATH'] = os.path.dirname(
             sys.executable)
 
-    # Set ERROR level for PyQt5 logger
-    qtlogger = logging.getLogger('PyQt5')
+    # Set ERROR level for PyQt logger
+    qtlogger = logging.getLogger('PyQt6')
     qtlogger.setLevel(logging.ERROR)
 
     parser = argparse.ArgumentParser(
@@ -125,9 +123,9 @@ def main():
             sys.exit(1)
 
     try:
-        import PyQt5  # noqa
+        import PyQt6  # noqa
     except ImportError:
-        logger.critical("No PyQT5 installation found, exiting!")
+        logger.critical("No PyQT6 installation found, exiting!")
         sys.exit(1)
 
     # Disable printouts from STL
@@ -162,8 +160,8 @@ def main():
 
     # Start up the main user-interface
     from .ui.main import MainUI
-    from PyQt5.QtWidgets import QApplication
-    from PyQt5.QtGui import QIcon
+    from PyQt6.QtWidgets import QApplication
+    from PyQt6.QtGui import QIcon
 
     if os.name == 'posix':
         logger.info('If startup fails because of "xcb", install dependency with `sudo apt install libxcb-xinerama0`.')
@@ -172,10 +170,6 @@ def main():
     app.setStyle("Fusion")
     from cfclient.utils.ui import UiUtils
 
-    # Create and set an event loop that combines qt and asyncio
-    loop = QEventLoop(app)
-    asyncio.set_event_loop(loop)
-
     app.setWindowIcon(QIcon(cfclient.module_path + "/ui/icons/icon-256.png"))
     app.setApplicationName("Crazyflie client")
     # Make sure the right icon is set in Windows 7+ taskbar
@@ -193,7 +187,7 @@ def main():
     app.setFont(UiUtils.FONT)
     main_window.show()
     main_window.set_default_theme()
-    sys.exit(app.exec_())
+    sys.exit(app.exec())
 
 
 if __name__ == "__main__":

src/cfclient/ui/connectivity_manager.py

@@ -7,7 +7,7 @@
 #  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
 #   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
 #
-#  Copyright (C) 2021 Bitcraze AB
+#  Copyright (C) 2021-2023 Bitcraze AB
 #
 #  Crazyflie Nano Quadcopter Client
 #
@@ -26,7 +26,7 @@
 #  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
 #  02110-1301, USA.
 from collections import namedtuple
-from PyQt5.QtCore import pyqtSignal, QObject
+from PyQt6.QtCore import pyqtSignal, QObject
 
 __author__ = 'Bitcraze AB'
 __all__ = ['ConnectivityManager']
@@ -66,8 +66,7 @@ def register_ui_elements(self, ui_elements):
         ui_elements.address_spinner.valueChanged.connect(self._address_changed_handler)
         ui_elements.address_spinner.editingFinished.connect(self._address_edited_handler)
 
-        ui_elements.interface_combo.currentIndexChanged['QString'].connect(
-            self._interface_combo_current_index_changed_handler)
+        ui_elements.interface_combo.currentIndexChanged.connect(self._interface_combo_current_index_changed_handler)
 
     def set_state(self, state):
         if self._state != state:
@@ -149,11 +148,12 @@ def _address_edited_handler(self):
                     ui_elements.address_spinner.setValue(value)
 
     def _interface_combo_current_index_changed_handler(self, interface):
+        interface_s = str(interface)
         can_connect = interface != self.INTERFACE_PROMPT_TEXT
         for ui_elements in self._ui_elements:
             combo = ui_elements.interface_combo
-            if combo.currentText != interface:
-                combo.setCurrentText(interface)
+            if combo.currentText != interface_s:
+                combo.setCurrentText(interface_s)
             ui_elements.connect_button.setEnabled(can_connect)
 
     def _update_ui(self):

src/cfclient/ui/dialogs/about.py

@@ -7,7 +7,7 @@
 #  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
 #   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
 #
-#  Copyright (C) 2011-2013 Bitcraze AB
+#  Copyright (C) 2011-2023 Bitcraze AB
 #
 #  Crazyflie Nano Quadcopter Client
 #
@@ -31,11 +31,11 @@
 
 import cfclient
 import cflib.crtp
-from PyQt5.QtCore import QT_VERSION_STR
-from PyQt5.QtCore import PYQT_VERSION_STR
-from PyQt5 import QtWidgets
-from PyQt5 import uic
-from PyQt5.QtCore import pyqtSignal
+from PyQt6.QtCore import QT_VERSION_STR
+from PyQt6.QtCore import PYQT_VERSION_STR
+from PyQt6 import QtWidgets
+from PyQt6 import uic
+from PyQt6.QtCore import pyqtSignal
 from cflib.crazyflie.mem import MemoryElement
 
 __author__ = 'Bitcraze AB'

src/cfclient/ui/dialogs/anchor_position_dialog.py

@@ -6,7 +6,7 @@
 #  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
 #   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
 #
-#  Copyright (C) 2018 Bitcraze AB
+#  Copyright (C) 2018-2023 Bitcraze AB
 #
 #  This program is free software; you can redistribute it and/or
 #  modify it under the terms of the GNU General Public License
@@ -29,11 +29,11 @@
 
 import cfclient
 from cfclient.utils.logconfigreader import FILE_REGEX_YAML
-from PyQt5 import QtWidgets
-from PyQt5 import uic
-from PyQt5.QtCore import QAbstractTableModel, QVariant, Qt
-from PyQt5.QtGui import QBrush, QColor
-from PyQt5.QtWidgets import QInputDialog, QFileDialog
+from PyQt6 import QtWidgets
+from PyQt6 import uic
+from PyQt6.QtCore import QAbstractTableModel, QVariant, Qt
+from PyQt6.QtGui import QBrush, QColor
+from PyQt6.QtWidgets import QInputDialog, QFileDialog
 import yaml
 import os
 
@@ -68,30 +68,30 @@ def data(self, index, role=None):
         value = self._anchor_positions[index.row()][index.column()]
         if index.isValid():
             if index.column() == 0:
-                if role == Qt.CheckStateRole:
+                if role == Qt.ItemDataRole.CheckStateRole:
                     return QVariant(value)
             elif index.column() == 1:
-                if role == Qt.DisplayRole:
+                if role == Qt.ItemDataRole.DisplayRole:
                     return QVariant(value)
             else:
-                if role == Qt.DisplayRole:
+                if role == Qt.ItemDataRole.DisplayRole:
                     return QVariant('%.2f' % (value))
-                elif role == Qt.EditRole:
+                elif role == Qt.ItemDataRole.EditRole:
                     return QVariant(value)
-                elif role == Qt.BackgroundRole:
+                elif role == Qt.ItemDataRole.BackgroundRole:
                     return self._get_background(index.row(), index.column())
 
         return QVariant()
 
-    def setData(self, index, value, role=Qt.EditRole):
+    def setData(self, index, value, role=Qt.ItemDataRole.EditRole):
         if not index.isValid():
             return False
 
         self._anchor_positions[index.row()][index.column()] = value
         return True
 
     def headerData(self, col, orientation, role=None):
-        if orientation == Qt.Horizontal and role == Qt.DisplayRole:
+        if orientation == Qt.Orientation.Horizontal and role == Qt.ItemDataRole.DisplayRole:
             return QVariant(self._headers[col])
         return QVariant()
 
@@ -100,11 +100,11 @@ def flags(self, index):
             return None
 
         if index.column() == 0:
-            return Qt.ItemIsEnabled | Qt.ItemIsUserCheckable
+            return Qt.ItemFlag.ItemIsEnabled | Qt.ItemFlag.ItemIsUserCheckable
         elif index.column() == 1:
-            return Qt.ItemIsEnabled
+            return Qt.ItemFlag.ItemIsEnabled
         else:
-            return Qt.ItemIsEnabled | Qt.ItemIsEditable
+            return Qt.ItemFlag.ItemIsEnabled | Qt.ItemFlag.ItemIsEditable
 
     def add_anchor(self, anchor_id, x=0.0, y=0.0, z=0.0):
         if not self._id_exist(anchor_id):
@@ -176,11 +176,11 @@ def __init__(self, lps_tab, helper):
         self._table_view.verticalHeader().setVisible(False)
 
         header = self._table_view.horizontalHeader()
-        header.setSectionResizeMode(0, QtWidgets.QHeaderView.ResizeToContents)
-        header.setSectionResizeMode(1, QtWidgets.QHeaderView.ResizeToContents)
-        header.setSectionResizeMode(2, QtWidgets.QHeaderView.Stretch)
-        header.setSectionResizeMode(3, QtWidgets.QHeaderView.Stretch)
-        header.setSectionResizeMode(4, QtWidgets.QHeaderView.Stretch)
+        header.setSectionResizeMode(0, QtWidgets.QHeaderView.ResizeMode.ResizeToContents)
+        header.setSectionResizeMode(1, QtWidgets.QHeaderView.ResizeMode.ResizeToContents)
+        header.setSectionResizeMode(2, QtWidgets.QHeaderView.ResizeMode.Stretch)
+        header.setSectionResizeMode(3, QtWidgets.QHeaderView.ResizeMode.Stretch)
+        header.setSectionResizeMode(4, QtWidgets.QHeaderView.ResizeMode.Stretch)
 
         self._add_anchor_button.clicked.connect(
             self._add_anchor_button_clicked)

src/cfclient/ui/dialogs/basestation_mode_dialog.py

@@ -7,7 +7,7 @@
 #  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
 #   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
 #
-#  Copyright (C) 2011-2013 Bitcraze AB
+#  Copyright (C) 2011-2023 Bitcraze AB
 #
 #  Crazyflie Nano Quadcopter Client
 #
@@ -27,9 +27,9 @@
 Toolbox used to interact with the Basestation to set it in a certain channel
 """
 
-from PyQt5 import QtWidgets
-from PyQt5 import uic
-from PyQt5.QtCore import Qt
+from PyQt6 import QtWidgets
+from PyQt6 import uic
+from PyQt6.QtCore import Qt
 
 import io
 import serial
@@ -154,7 +154,7 @@ def disable(self):
         return
 
     def preferedDockArea(self):
-        return Qt.RightDockWidgetArea
+        return Qt.DockWidgetArea.RightDockWidgetArea
 
     def _find_basestation(self):
         ports = comports()

src/cfclient/ui/dialogs/bootloader.py

@@ -7,7 +7,7 @@
 #  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
 #   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
 #
-#  Copyright (C) 2011-2013 Bitcraze AB
+#  Copyright (C) 2011-2023 Bitcraze AB
 #
 #  Crazyflie Nano Quadcopter Client
 #
@@ -44,8 +44,8 @@
 from urllib.error import URLError
 import zipfile
 
-from PyQt5 import QtWidgets, uic
-from PyQt5.QtCore import pyqtSlot, pyqtSignal, QThread
+from PyQt6 import QtWidgets, uic
+from PyQt6.QtCore import pyqtSlot, pyqtSignal, QThread
 
 import cfclient
 import cflib.crazyflie

src/cfclient/ui/dialogs/cf2config.py

@@ -7,7 +7,7 @@
 #  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
 #   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
 #
-#  Copyright (C) 2011-2013 Bitcraze AB
+#  Copyright (C) 2011-2023 Bitcraze AB
 #
 #  Crazyflie Nano Quadcopter Client
 #
@@ -32,9 +32,9 @@
 import cfclient
 from cflib.crazyflie.mem import MemoryElement
 
-from PyQt5 import QtWidgets
-from PyQt5 import uic
-from PyQt5.QtCore import pyqtSignal
+from PyQt6 import QtWidgets
+from PyQt6 import uic
+from PyQt6.QtCore import pyqtSignal
 
 __author__ = 'Bitcraze AB'
 __all__ = ['Cf2ConfigDialog']

src/cfclient/ui/dialogs/inputconfigdialogue.py

@@ -7,7 +7,7 @@
 #  +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
 #   ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
 #
-#  Copyright (C) 2011-2017 Bitcraze AB
+#  Copyright (C) 2011-2023 Bitcraze AB
 #
 #  Crazyflie Nano Quadcopter Client
 #
@@ -30,15 +30,14 @@
 import logging
 
 import cfclient
-from PyQt5.QtCore import QThread
-from PyQt5.QtCore import QTimer
-from PyQt5.QtCore import pyqtSignal
-from PyQt5.QtWidgets import QMessageBox
+from PyQt6.QtCore import Qt
+from PyQt6.QtCore import QThread
+from PyQt6.QtCore import QTimer
+from PyQt6.QtCore import pyqtSignal
+from PyQt6.QtWidgets import QMessageBox
 from cfclient.utils.config_manager import ConfigManager
-from PyQt5 import Qt
-from PyQt5 import QtWidgets
-from PyQt5 import uic
-from PyQt5.Qt import *  # noqa
+from PyQt6 import QtWidgets
+from PyQt6 import uic
 
 __author__ = 'Bitcraze AB'
 __all__ = ['InputConfigDialogue']
@@ -213,7 +212,7 @@ def _show_config_popup(self, caption, message, directions=[]):
         self.cancelButton = QtWidgets.QPushButton('Cancel')
         self._popup.addButton(self.cancelButton, QMessageBox.DestructiveRole)
         self._popup.setWindowTitle(caption)
-        self._popup.setWindowFlags(Qt.Dialog | Qt.MSWindowsFixedSizeDialogHint)
+        self._popup.setWindowFlags(Qt.WindowType.Dialog | Qt.WindowType.MSWindowsFixedSizeDialogHint)
         if len(directions) > 1:
             self._popup.originalMessage = message
             message = self._popup.originalMessage % directions[0]