Refactor codebase to migrate from PyQt5 to QtPy and PySide2

.github/workflows/ci.yml

@@ -35,7 +35,7 @@ jobs:
       - name: Dependencies [Ubuntu]
         run: |
           sudo apt update
-          sudo apt install -y pyqt5-dev-tools
+          sudo apt install -y pyqt6-dev-tools
       - name: Generate python files
         run: |
           bash ./generate-ui.sh

generate-ui.sh

@@ -1,13 +1,30 @@
 #! /bin/bash
+SCRIPT_DIR=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
+
+if command -v pyuic6 >/dev/null 2>&1; then
+	PYUIC_CMD=(pyuic6)
+elif [ -x "${SCRIPT_DIR}/.venv/bin/pyuic6" ]; then
+	PYUIC_CMD=("${SCRIPT_DIR}/.venv/bin/pyuic6")
+elif [ -x "${SCRIPT_DIR}/.venv/bin/python" ]; then
+	PYUIC_CMD=("${SCRIPT_DIR}/.venv/bin/python" -m PyQt6.uic.pyuic)
+elif command -v python >/dev/null 2>&1; then
+	PYUIC_CMD=(python -m PyQt6.uic.pyuic)
+elif command -v python3 >/dev/null 2>&1; then
+	PYUIC_CMD=(python3 -m PyQt6.uic.pyuic)
+else
+	echo "Error: pyuic6 not found. Please install PyQt6 tools." >&2
+	exit 1
+fi
+
 echo "Generate the main window"
-pyuic5 -o robot_log_visualizer/ui/autogenerated/visualizer.py robot_log_visualizer/ui/misc/visualizer.ui
+"${PYUIC_CMD[@]}" -o robot_log_visualizer/ui/autogenerated/visualizer.py robot_log_visualizer/ui/misc/visualizer.ui
 
 echo "Generate Additional windows"
-pyuic5 -o  robot_log_visualizer/ui/autogenerated/about.py robot_log_visualizer/ui/misc/about.ui
-pyuic5 -o  robot_log_visualizer/ui/autogenerated/set_robot_model.py robot_log_visualizer/ui/misc/set_robot_model.ui
+"${PYUIC_CMD[@]}" -o  robot_log_visualizer/ui/autogenerated/about.py robot_log_visualizer/ui/misc/about.ui
+"${PYUIC_CMD[@]}" -o  robot_log_visualizer/ui/autogenerated/set_robot_model.py robot_log_visualizer/ui/misc/set_robot_model.ui
 
 echo "Generate tab"
-pyuic5 -o  robot_log_visualizer/ui/autogenerated/plot_tab.py robot_log_visualizer/ui/misc/plot_tab.ui
-pyuic5 -o  robot_log_visualizer/ui/autogenerated/video_tab.py robot_log_visualizer/ui/misc/video_tab.ui
+"${PYUIC_CMD[@]}" -o  robot_log_visualizer/ui/autogenerated/plot_tab.py robot_log_visualizer/ui/misc/plot_tab.ui
+"${PYUIC_CMD[@]}" -o  robot_log_visualizer/ui/autogenerated/video_tab.py robot_log_visualizer/ui/misc/video_tab.ui
 
 echo "The ui is generated"

robot_log_visualizer/__main__.py

@@ -7,8 +7,8 @@
 import sys
 
 # GUI
+from PyQt6.QtWidgets import QApplication
 from robot_log_visualizer.ui.gui import RobotViewerMainWindow
-from PyQt5.QtWidgets import QApplication
 
 # Meshcat
 from robot_log_visualizer.robot_visualizer.meshcat_provider import MeshcatProvider
@@ -36,7 +36,7 @@ def main():
     # show the main window
     gui.show()
 
-    return app.exec_()
+    return app.exec()
 
 
 if __name__ == "__main__":

robot_log_visualizer/plotter/pyqtgraph_viewer_canvas.py

@@ -8,7 +8,7 @@
 
 import numpy as np
 import pyqtgraph as pg  # type: ignore
-from PyQt5 import QtCore, QtWidgets  # type: ignore
+from PyQt6 import QtCore, QtWidgets  # type: ignore
 
 from robot_log_visualizer.plotter.color_palette import ColorPalette
 from robot_log_visualizer.signal_provider.signal_provider import ProviderType

robot_log_visualizer/robot_visualizer/meshcat_provider.py

@@ -10,7 +10,7 @@
 import idyntree.swig as idyn
 import numpy as np
 from idyntree.visualize import MeshcatVisualizer
-from PyQt5.QtCore import QMutex, QMutexLocker, QThread
+from PyQt6.QtCore import QMutex, QMutexLocker, QThread
 
 from robot_log_visualizer.utils.utils import PeriodicThreadState
 

robot_log_visualizer/signal_provider/signal_provider.py

@@ -9,7 +9,7 @@
 import h5py
 import idyntree.swig as idyn
 import numpy as np
-from PyQt5.QtCore import QMutex, QMutexLocker, QThread, pyqtSignal
+from PyQt6.QtCore import QMutex, QMutexLocker, QThread, pyqtSignal
 
 from robot_log_visualizer.utils.utils import PeriodicThreadState, RobotStatePath
 

robot_log_visualizer/ui/autogenerated/about.py

@@ -1,26 +1,24 @@
-# -*- coding: utf-8 -*-
-
 # Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/about.ui'
 #
-# Created by: PyQt5 UI code generator 5.15.6
+# Created by: PyQt6 UI code generator 6.9.1
 #
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# WARNING: Any manual changes made to this file will be lost when pyuic6 is
 # run again.  Do not edit this file unless you know what you are doing.
 
 
-from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt6 import QtCore, QtGui, QtWidgets
 
 
 class Ui_aboutWindow(object):
     def setupUi(self, aboutWindow):
         aboutWindow.setObjectName("aboutWindow")
         aboutWindow.resize(541, 102)
         aboutWindow.setMaximumSize(QtCore.QSize(541, 102))
-        self.centralwidget = QtWidgets.QWidget(aboutWindow)
+        self.centralwidget = QtWidgets.QWidget(parent=aboutWindow)
         self.centralwidget.setObjectName("centralwidget")
         self.horizontalLayout = QtWidgets.QHBoxLayout(self.centralwidget)
         self.horizontalLayout.setObjectName("horizontalLayout")
-        self.label_2 = QtWidgets.QLabel(self.centralwidget)
+        self.label_2 = QtWidgets.QLabel(parent=self.centralwidget)
         self.label_2.setEnabled(True)
         self.label_2.setOpenExternalLinks(True)
         self.label_2.setObjectName("label_2")

robot_log_visualizer/ui/autogenerated/plot_tab.py

@@ -1,14 +1,12 @@
-# -*- coding: utf-8 -*-
-
 # Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/plot_tab.ui'
 #
-# Created by: PyQt5 UI code generator 5.15.6
+# Created by: PyQt6 UI code generator 6.9.1
 #
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# WARNING: Any manual changes made to this file will be lost when pyuic6 is
 # run again.  Do not edit this file unless you know what you are doing.
 
 
-from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt6 import QtCore, QtGui, QtWidgets
 
 
 class Ui_PlotTab(object):

robot_log_visualizer/ui/autogenerated/set_robot_model.py

@@ -1,14 +1,12 @@
-# -*- coding: utf-8 -*-
-
 # Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/set_robot_model.ui'
 #
-# Created by: PyQt5 UI code generator 5.15.6
+# Created by: PyQt6 UI code generator 6.9.1
 #
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# WARNING: Any manual changes made to this file will be lost when pyuic6 is
 # run again.  Do not edit this file unless you know what you are doing.
 
 
-from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt6 import QtCore, QtGui, QtWidgets
 
 
 class Ui_setRobotModelDialog(object):
@@ -17,95 +15,95 @@ def setupUi(self, setRobotModelDialog):
         setRobotModelDialog.resize(711, 363)
         self.gridLayout = QtWidgets.QGridLayout(setRobotModelDialog)
         self.gridLayout.setObjectName("gridLayout")
-        spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
+        spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Policy.Minimum, QtWidgets.QSizePolicy.Policy.Expanding)
         self.gridLayout.addItem(spacerItem, 1, 0, 1, 1)
-        self.buttonBox = QtWidgets.QDialogButtonBox(setRobotModelDialog)
-        self.buttonBox.setOrientation(QtCore.Qt.Horizontal)
-        self.buttonBox.setStandardButtons(QtWidgets.QDialogButtonBox.Close|QtWidgets.QDialogButtonBox.Save|QtWidgets.QDialogButtonBox.SaveAll)
+        self.buttonBox = QtWidgets.QDialogButtonBox(parent=setRobotModelDialog)
+        self.buttonBox.setOrientation(QtCore.Qt.Orientation.Horizontal)
+        self.buttonBox.setStandardButtons(QtWidgets.QDialogButtonBox.StandardButton.Close|QtWidgets.QDialogButtonBox.StandardButton.Save|QtWidgets.QDialogButtonBox.StandardButton.SaveAll)
         self.buttonBox.setObjectName("buttonBox")
         self.gridLayout.addWidget(self.buttonBox, 2, 0, 1, 1)
-        self.tabWidget = QtWidgets.QTabWidget(setRobotModelDialog)
+        self.tabWidget = QtWidgets.QTabWidget(parent=setRobotModelDialog)
         self.tabWidget.setObjectName("tabWidget")
         self.robot_tab = QtWidgets.QWidget()
         self.robot_tab.setObjectName("robot_tab")
         self.verticalLayout = QtWidgets.QVBoxLayout(self.robot_tab)
         self.verticalLayout.setObjectName("verticalLayout")
-        self.frame = QtWidgets.QFrame(self.robot_tab)
-        self.frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
+        self.frame = QtWidgets.QFrame(parent=self.robot_tab)
+        self.frame.setFrameShape(QtWidgets.QFrame.Shape.StyledPanel)
         self.frame.setObjectName("frame")
         self.gridLayout_2 = QtWidgets.QGridLayout(self.frame)
         self.gridLayout_2.setObjectName("gridLayout_2")
-        self.robotModelToolButton = QtWidgets.QToolButton(self.frame)
+        self.robotModelToolButton = QtWidgets.QToolButton(parent=self.frame)
         self.robotModelToolButton.setObjectName("robotModelToolButton")
         self.gridLayout_2.addWidget(self.robotModelToolButton, 1, 1, 1, 1)
-        self.label = QtWidgets.QLabel(self.frame)
+        self.label = QtWidgets.QLabel(parent=self.frame)
         self.label.setObjectName("label")
         self.gridLayout_2.addWidget(self.label, 0, 0, 1, 1)
-        self.robotModelLineEdit = QtWidgets.QLineEdit(self.frame)
+        self.robotModelLineEdit = QtWidgets.QLineEdit(parent=self.frame)
         font = QtGui.QFont()
         font.setFamily("Ubuntu Mono")
         self.robotModelLineEdit.setFont(font)
         self.robotModelLineEdit.setObjectName("robotModelLineEdit")
         self.gridLayout_2.addWidget(self.robotModelLineEdit, 1, 0, 1, 1)
         self.verticalLayout.addWidget(self.frame)
-        self.frame_2 = QtWidgets.QFrame(self.robot_tab)
-        self.frame_2.setFrameShape(QtWidgets.QFrame.StyledPanel)
+        self.frame_2 = QtWidgets.QFrame(parent=self.robot_tab)
+        self.frame_2.setFrameShape(QtWidgets.QFrame.Shape.StyledPanel)
         self.frame_2.setObjectName("frame_2")
         self.gridLayout_3 = QtWidgets.QGridLayout(self.frame_2)
         self.gridLayout_3.setObjectName("gridLayout_3")
-        self.packageDirToolButton = QtWidgets.QToolButton(self.frame_2)
+        self.packageDirToolButton = QtWidgets.QToolButton(parent=self.frame_2)
         self.packageDirToolButton.setObjectName("packageDirToolButton")
         self.gridLayout_3.addWidget(self.packageDirToolButton, 1, 1, 1, 1)
-        self.label_3 = QtWidgets.QLabel(self.frame_2)
+        self.label_3 = QtWidgets.QLabel(parent=self.frame_2)
         self.label_3.setObjectName("label_3")
         self.gridLayout_3.addWidget(self.label_3, 0, 0, 1, 1)
-        self.packageDirLineEdit = QtWidgets.QLineEdit(self.frame_2)
+        self.packageDirLineEdit = QtWidgets.QLineEdit(parent=self.frame_2)
         font = QtGui.QFont()
         font.setFamily("Ubuntu Mono")
         self.packageDirLineEdit.setFont(font)
         self.packageDirLineEdit.setObjectName("packageDirLineEdit")
         self.gridLayout_3.addWidget(self.packageDirLineEdit, 1, 0, 1, 1)
         self.verticalLayout.addWidget(self.frame_2)
-        self.frame_3 = QtWidgets.QFrame(self.robot_tab)
-        self.frame_3.setFrameShape(QtWidgets.QFrame.StyledPanel)
+        self.frame_3 = QtWidgets.QFrame(parent=self.robot_tab)
+        self.frame_3.setFrameShape(QtWidgets.QFrame.Shape.StyledPanel)
         self.frame_3.setObjectName("frame_3")
         self.formLayout_2 = QtWidgets.QFormLayout(self.frame_3)
         self.formLayout_2.setObjectName("formLayout_2")
-        self.label_5 = QtWidgets.QLabel(self.frame_3)
+        self.label_5 = QtWidgets.QLabel(parent=self.frame_3)
         self.label_5.setObjectName("label_5")
-        self.formLayout_2.setWidget(0, QtWidgets.QFormLayout.LabelRole, self.label_5)
-        self.frameNameComboBox = QtWidgets.QComboBox(self.frame_3)
+        self.formLayout_2.setWidget(0, QtWidgets.QFormLayout.ItemRole.LabelRole, self.label_5)
+        self.frameNameComboBox = QtWidgets.QComboBox(parent=self.frame_3)
         self.frameNameComboBox.setMaxVisibleItems(5)
         self.frameNameComboBox.setObjectName("frameNameComboBox")
-        self.formLayout_2.setWidget(1, QtWidgets.QFormLayout.SpanningRole, self.frameNameComboBox)
+        self.formLayout_2.setWidget(1, QtWidgets.QFormLayout.ItemRole.SpanningRole, self.frameNameComboBox)
         self.verticalLayout.addWidget(self.frame_3)
         self.tabWidget.addTab(self.robot_tab, "")
         self.mischellanea_tab = QtWidgets.QWidget()
         self.mischellanea_tab.setObjectName("mischellanea_tab")
         self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.mischellanea_tab)
         self.verticalLayout_2.setObjectName("verticalLayout_2")
-        self.frame_4 = QtWidgets.QFrame(self.mischellanea_tab)
-        self.frame_4.setFrameShape(QtWidgets.QFrame.StyledPanel)
-        self.frame_4.setFrameShadow(QtWidgets.QFrame.Raised)
+        self.frame_4 = QtWidgets.QFrame(parent=self.mischellanea_tab)
+        self.frame_4.setFrameShape(QtWidgets.QFrame.Shape.StyledPanel)
+        self.frame_4.setFrameShadow(QtWidgets.QFrame.Shadow.Raised)
         self.frame_4.setObjectName("frame_4")
         self.gridLayout_4 = QtWidgets.QGridLayout(self.frame_4)
         self.gridLayout_4.setObjectName("gridLayout_4")
-        self.label_2 = QtWidgets.QLabel(self.frame_4)
+        self.label_2 = QtWidgets.QLabel(parent=self.frame_4)
         self.label_2.setObjectName("label_2")
         self.gridLayout_4.addWidget(self.label_2, 0, 0, 1, 1)
-        self.arrowScaling_lineEdit = QtWidgets.QLineEdit(self.frame_4)
+        self.arrowScaling_lineEdit = QtWidgets.QLineEdit(parent=self.frame_4)
         self.arrowScaling_lineEdit.setEnabled(False)
         self.arrowScaling_lineEdit.setReadOnly(False)
         self.arrowScaling_lineEdit.setClearButtonEnabled(False)
         self.arrowScaling_lineEdit.setObjectName("arrowScaling_lineEdit")
         self.gridLayout_4.addWidget(self.arrowScaling_lineEdit, 0, 1, 1, 1)
-        self.arrowScaling_checkBox = QtWidgets.QCheckBox(self.frame_4)
+        self.arrowScaling_checkBox = QtWidgets.QCheckBox(parent=self.frame_4)
         self.arrowScaling_checkBox.setChecked(True)
         self.arrowScaling_checkBox.setTristate(False)
         self.arrowScaling_checkBox.setObjectName("arrowScaling_checkBox")
         self.gridLayout_4.addWidget(self.arrowScaling_checkBox, 0, 2, 1, 1)
         self.verticalLayout_2.addWidget(self.frame_4)
-        spacerItem1 = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
+        spacerItem1 = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Policy.Minimum, QtWidgets.QSizePolicy.Policy.Expanding)
         self.verticalLayout_2.addItem(spacerItem1)
         self.tabWidget.addTab(self.mischellanea_tab, "")
         self.gridLayout.addWidget(self.tabWidget, 0, 0, 1, 1)

robot_log_visualizer/ui/autogenerated/video_tab.py

@@ -1,14 +1,12 @@
-# -*- coding: utf-8 -*-
-
 # Form implementation generated from reading ui file 'robot_log_visualizer/ui/misc/video_tab.ui'
 #
-# Created by: PyQt5 UI code generator 5.15.6
+# Created by: PyQt6 UI code generator 6.9.1
 #
-# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# WARNING: Any manual changes made to this file will be lost when pyuic6 is
 # run again.  Do not edit this file unless you know what you are doing.
 
 
-from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt6 import QtCore, QtGui, QtWidgets
 
 
 class Ui_VideoTab(object):
@@ -17,7 +15,7 @@ def setupUi(self, VideoTab):
         VideoTab.resize(400, 300)
         self.horizontalLayout = QtWidgets.QHBoxLayout(VideoTab)
         self.horizontalLayout.setObjectName("horizontalLayout")
-        self.webcamView = QVideoWidget(VideoTab)
+        self.webcamView = QVideoWidget(parent=VideoTab)
         self.webcamView.setObjectName("webcamView")
         self.horizontalLayout.addWidget(self.webcamView)
 
@@ -27,4 +25,4 @@ def setupUi(self, VideoTab):
     def retranslateUi(self, VideoTab):
         _translate = QtCore.QCoreApplication.translate
         VideoTab.setWindowTitle(_translate("VideoTab", "Form"))
-from PyQt5.QtMultimediaWidgets import QVideoWidget
+from PyQt6.QtMultimediaWidgets import QVideoWidget