Qt6 CMake Migration

CMakeLists.txt

@@ -115,13 +115,26 @@ set(GZ_FUEL_TOOLS_VER ${gz-fuel_tools10_VERSION_MAJOR})
 # Find gz-gui
 gz_find_package(gz-gui9 REQUIRED)
 set(GZ_GUI_VER ${gz-gui9_VERSION_MAJOR})
-gz_find_package (Qt5
+
+set(QT_MAJOR_VERSION 6)
+set(QT_MINOR_VERSION 4)
+gz_find_package (Qt${QT_MAJOR_VERSION}
+  VERSION ${QT_MAJOR_VERSION}.${QT_MINOR_VERSION}
   COMPONENTS
     Core
     Quick
     QuickControls2
   REQUIRED
-  PKGCONFIG "Qt5Core Qt5Quick Qt5QuickControls2")
+  PKGCONFIG "Qt${QT_MAJOR_VERSION}Core Qt${QT_MAJOR_VERSION}Quick Qt${QT_MAJOR_VERSION}QuickControls2")
+
+set(CMAKE_AUTOMOC TRUE)
+set(CMAKE_AUTOUIC TRUE)
+set(CMAKE_AUTORCC TRUE)
+if(POLICY CMP0100)
+  cmake_policy(SET CMP0100 NEW)
+endif()
+
+qt_standard_project_setup()
 
 #--------------------------------------
 # Find gz-physics

examples/plugin/gui_system_plugin/CMakeLists.txt

@@ -10,7 +10,7 @@ set(CMAKE_AUTOMOC ON)
 
 find_package(gz-sim9 REQUIRED COMPONENTS gui)
 
-QT5_ADD_RESOURCES(resources_RCC ${PROJECT_NAME}.qrc)
+qt_add_resources(resources_RCC ${PROJECT_NAME}.qrc)
 
 add_library(${PROJECT_NAME} SHARED
   ${PROJECT_NAME}.cc

examples/plugin/rendering_plugins/CMakeLists.txt

@@ -16,7 +16,7 @@ set(CMAKE_AUTOMOC ON)
 
 find_package(gz-gui9 REQUIRED)
 
-QT5_ADD_RESOURCES(resources_RCC ${GUI_PLUGIN}.qrc)
+qt_add_resources(resources_RCC ${GUI_PLUGIN}.qrc)
 
 add_library(${GUI_PLUGIN} SHARED
   ${GUI_PLUGIN}.cc

src/gui/CMakeLists.txt

@@ -26,7 +26,7 @@ set(CMAKE_AUTORCC ON)
 # located in different directories than the containing .cc file. For Qt header
 # files in `include/gz/sim/gui`, we use qt5_wrap_cpp instead. There is
 # no need to add entries for Qt header files in `src/gui/`.
-qt5_wrap_cpp(gui_sources
+qt_wrap_cpp(gui_sources
   ${PROJECT_SOURCE_DIR}/include/gz/sim/gui/GuiSystem.hh
 )
 
@@ -51,8 +51,6 @@ target_link_libraries(${gui_target}
     gz-gui${GZ_GUI_VER}::gz-gui${GZ_GUI_VER}
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
     gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}
-    ${Qt5Core_LIBRARIES}
-    ${Qt5Widgets_LIBRARIES}
 )
 
 set(CMAKE_AUTOMOC OFF)

src/gui/GuiRunner.cc

@@ -15,7 +15,9 @@
  *
 */
 
+#include <optional>
 #include <memory>
+#include <mutex>
 #include <utility>
 #include <vector>
 
@@ -45,10 +47,6 @@
 using namespace gz;
 using namespace sim;
 
-// Register SerializedStepMap to the Qt meta type system so we can pass objects
-// of this type in QMetaObject::invokeMethod
-Q_DECLARE_METATYPE(msgs::SerializedStepMap)
-
 /////////////////////////////////////////////////
 class gz::sim::GuiRunner::Implementation
 {
@@ -64,15 +62,6 @@ class gz::sim::GuiRunner::Implementation
   /// \brief Latest update info
   public: UpdateInfo updateInfo;
 
-  /// \brief Flag used to end the updateThread.
-  public: bool running{false};
-
-  /// \brief Mutex to protect the plugin update.
-  public: std::mutex updateMutex;
-
-  /// \brief The plugin update thread..
-  public: std::thread updateThread;
-
   /// \brief True if the initial state has been received and processed.
   public: bool receivedInitialState{false};
 
@@ -103,14 +92,15 @@ class gz::sim::GuiRunner::Implementation
 
   /// \brief Manager of all events.
   public: EventManager eventMgr;
+
+  public: std::optional<msgs::SerializedStepMap> lastStateMsg;
+  public: std::mutex stateMsgMutex;
 };
 
 /////////////////////////////////////////////////
 GuiRunner::GuiRunner(const std::string &_worldName)
   : dataPtr(utils::MakeUniqueImpl<Implementation>())
 {
-  qRegisterMetaType<msgs::SerializedStepMap>();
-
   this->setProperty("worldName", QString::fromStdString(_worldName));
 
   // Allow for creation of entities on GUI side.
@@ -262,8 +252,11 @@ void GuiRunner::OnStateAsyncService(const msgs::SerializedStepMap &_res)
   // OnStateQt function to the queue so that its called from the Qt thread. This
   // ensures that only one thread has access to the ecm and updateInfo
   // variables.
-  QMetaObject::invokeMethod(this, "OnStateQt", Qt::QueuedConnection,
-                            Q_ARG(msgs::SerializedStepMap, _res));
+  {
+    std::lock_guard<std::mutex> lock(this->dataPtr->stateMsgMutex);
+    this->dataPtr->lastStateMsg = _res;
+  }
+  QMetaObject::invokeMethod(this, "OnStateQt", Qt::QueuedConnection);
   this->dataPtr->receivedInitialState = true;
 
   // todo(anyone) store reqSrv string in a member variable and use it here
@@ -284,23 +277,32 @@ void GuiRunner::OnState(const msgs::SerializedStepMap &_msg)
   if (!this->dataPtr->receivedInitialState)
     return;
 
+  {
+    std::lock_guard<std::mutex> lock(this->dataPtr->stateMsgMutex);
+    this->dataPtr->lastStateMsg = _msg;
+  }
   // Since this function may be called from a transport thread, we push the
   // OnStateQt function to the queue so that its called from the Qt thread. This
   // ensures that only one thread has access to the ecm and updateInfo
   // variables.
-  QMetaObject::invokeMethod(this, "OnStateQt", Qt::QueuedConnection,
-                            Q_ARG(msgs::SerializedStepMap, _msg));
+  QMetaObject::invokeMethod(this, "OnStateQt", Qt::QueuedConnection);
 }
 
 /////////////////////////////////////////////////
-void GuiRunner::OnStateQt(const msgs::SerializedStepMap &_msg)
+void GuiRunner::OnStateQt()
 {
   GZ_PROFILE_THREAD_NAME("Qt thread");
   GZ_PROFILE("GuiRunner::Update");
-  this->dataPtr->ecm.SetState(_msg.state());
+  {
+    std::lock_guard<std::mutex> lock(this->dataPtr->stateMsgMutex);
+    if (this->dataPtr->lastStateMsg.has_value())
+    {
+      this->dataPtr->ecm.SetState(this->dataPtr->lastStateMsg->state());
+    }
 
-  // Update all plugins
-  this->dataPtr->updateInfo = convert<UpdateInfo>(_msg.stats());
+    // Update all plugins
+    this->dataPtr->updateInfo = convert<UpdateInfo>(this->dataPtr->lastStateMsg->stats());
+  }
   this->UpdatePlugins();
 }
 

src/gui/GuiRunner.hh

@@ -28,10 +28,12 @@
 #include "gz/sim/EventManager.hh"
 #include "gz/sim/gui/Export.hh"
 
+
 namespace gz
 {
 namespace sim
 {
+
 // Inline bracket to help doxygen filtering.
 inline namespace GZ_SIM_VERSION_NAMESPACE {
 /// \brief Responsible for running GUI systems as new states are received from
@@ -67,7 +69,7 @@ class GZ_SIM_GUI_VISIBLE GuiRunner : public QObject
 
   /// \brief Called by the Qt thread to update the ECM with new state
   /// \param[in] _msg New state message.
-  private: Q_INVOKABLE void OnStateQt(const msgs::SerializedStepMap &_msg);
+  private: Q_INVOKABLE void OnStateQt();
 
   /// \brief Update the plugins.
   private: Q_INVOKABLE void UpdatePlugins();

src/gui/plugins/CMakeLists.txt

@@ -23,8 +23,8 @@ function(gz_add_gui_library library_name)
 
   cmake_parse_arguments(gz_add_gui_library "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
-  QT5_WRAP_CPP(${library_name}_headers_MOC ${gz_add_gui_library_QT_HEADERS})
-  QT5_ADD_RESOURCES(${library_name}_RCC ${library_name}.qrc)
+  qt_wrap_cpp(${library_name}_headers_MOC ${gz_add_gui_library_QT_HEADERS})
+  qt_add_resources(${library_name}_RCC ${library_name}.qrc)
 
   if(MSVC)
     # Warning #4251 is the "dll-interface" warning that tells you when types

src/gui/plugins/align_tool/AlignTool.qml

@@ -14,12 +14,11 @@
  * limitations under the License.
  *
 */
-import QtQuick 2.9
-import QtQuick.Controls 2.1
-import QtQuick.Controls.Material 2.2
-import QtQuick.Controls.Material.impl 2.2
-import QtQuick.Layouts 1.3
-import QtQuick.Controls.Styles 1.4
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Controls.Material
+import QtQuick.Controls.Material.impl
+import QtQuick.Layouts
 
 ToolBar {
   Layout.minimumWidth: 280

src/gui/plugins/apply_force_torque/ApplyForceTorque.qml

@@ -14,10 +14,10 @@
  * limitations under the License.
  *
 */
-import QtQuick 2.9
-import QtQuick.Controls 2.1
-import QtQuick.Layouts 1.3
-import "qrc:/qml"
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Layouts
+import "qrc:/gz/gui/qml"
 
 GridLayout {
   columns: 8

src/gui/plugins/banana_for_scale/BananaForScale.qml

@@ -14,13 +14,12 @@
  * limitations under the License.
  *
 */
-import QtQuick 2.9
-import QtQuick.Window 2.2
-import QtQuick.Controls 2.1
-import QtQuick.Controls.Material 2.2
-import QtQuick.Controls.Material.impl 2.2
-import QtQuick.Layouts 1.3
-import QtQuick.Controls.Styles 1.4
+import QtQuick
+import QtQuick.Window
+import QtQuick.Controls
+import QtQuick.Controls.Material
+import QtQuick.Controls.Material.impl
+import QtQuick.Layouts
 
 ToolBar {
   id: bananaForScale

src/gui/plugins/component_inspector/Boolean.qml

@@ -14,12 +14,10 @@
  * limitations under the License.
  *
 */
-import QtQuick 2.9
-import QtQuick.Controls 1.4
-import QtQuick.Controls 2.2
-import QtQuick.Controls.Material 2.1
-import QtQuick.Layouts 1.3
-import QtQuick.Controls.Styles 1.4
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Controls.Material
+import QtQuick.Layouts
 import "qrc:/ComponentInspector"
 
 Rectangle {

src/gui/plugins/component_inspector/ComponentInspector.qml

@@ -14,12 +14,11 @@
  * limitations under the License.
  *
 */
-import QtQuick 2.9
-import QtQuick.Controls 2.2
-import QtQuick.Controls.Material 2.1
-import QtQuick.Dialogs 1.1
-import QtQuick.Layouts 1.3
-import QtQuick.Controls.Styles 1.4
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Controls.Material
+import QtQuick.Dialogs
+import QtQuick.Layouts
 import GzSim 1.0 as GzSim
 
 Rectangle {
@@ -72,7 +71,7 @@ Rectangle {
     Material.accent.b, 0.3)
 
   function delegateQml(_model) {
-    if (_model === null || _model.dataType == undefined)
+    if (_model === null || _model.dataType === undefined)
       return 'NoData.qml'
 
     return _model.dataType + '.qml'

src/gui/plugins/component_inspector/ExpandingTypeHeader.qml

@@ -14,12 +14,10 @@
  * limitations under the License.
  *
 */
-import QtQuick 2.9
-import QtQuick.Controls 1.4
-import QtQuick.Controls 2.2
-import QtQuick.Controls.Material 2.1
-import QtQuick.Layouts 1.3
-import QtQuick.Controls.Styles 1.4
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Controls.Material
+import QtQuick.Layouts
 
 // Header
 Rectangle {

src/gui/plugins/component_inspector/Float.qml

@@ -14,14 +14,12 @@
  * limitations under the License.
  *
 */
-import QtQuick 2.9
-import QtQuick.Controls 1.4
-import QtQuick.Controls 2.2
-import QtQuick.Controls.Material 2.1
-import QtQuick.Layouts 1.3
-import QtQuick.Controls.Styles 1.4
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Controls.Material
+import QtQuick.Layouts
 import "qrc:/ComponentInspector"
-import "qrc:/qml"
+import "qrc:/gz/gui/qml"
 
 Rectangle {
   id: numberComponent
@@ -39,7 +37,7 @@ Rectangle {
   property double spinMax: 1000000
 
   // Unit
-  property string unit: model && model.unit != undefined ? model.unit : ''
+  property string unit: model && model.unit !== undefined ? model.unit : ''
 
   RowLayout {
     anchors.fill: parent

src/gui/plugins/component_inspector/Inertial.qml

@@ -14,12 +14,10 @@
  * limitations under the License.
  *
 */
-import QtQuick 2.9
-import QtQuick.Controls 1.4
-import QtQuick.Controls 2.2
-import QtQuick.Controls.Material 2.1
-import QtQuick.Layouts 1.3
-import QtQuick.Controls.Styles 1.4
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Controls.Material
+import QtQuick.Layouts
 import "qrc:/ComponentInspector"
 
 // TODO

src/gui/plugins/component_inspector/Integer.qml

@@ -14,14 +14,12 @@
  * limitations under the License.
  *
 */
-import QtQuick 2.9
-import QtQuick.Controls 1.4
-import QtQuick.Controls 2.2
-import QtQuick.Controls.Material 2.1
-import QtQuick.Layouts 1.3
-import QtQuick.Controls.Styles 1.4
+import QtQuick
+import QtQuick.Controls
+import QtQuick.Controls.Material
+import QtQuick.Layouts
 import "qrc:/ComponentInspector"
-import "qrc:/qml"
+import "qrc:/gz/gui/qml"
 
 Rectangle {
   id: numberComponent
@@ -39,7 +37,7 @@ Rectangle {
   property double spinMax: 1000000
 
   // Unit
-  property string unit: model && model.unit != undefined ? model.unit : ''
+  property string unit: model && model.unit !== undefined ? model.unit : ''
 
   RowLayout {
     anchors.fill: parent