Migrate to Qt6

.github/ci/packages.apt

@@ -30,18 +30,18 @@ python3-gz-transport14
 python3-pybind11
 python3-pytest
 python3-sdformat15
-qml-module-qt-labs-folderlistmodel
-qml-module-qt-labs-settings
-qml-module-qtgraphicaleffects
-qml-module-qtqml-models2
-qml-module-qtquick-controls
-qml-module-qtquick-controls2
-qml-module-qtquick-dialogs
-qml-module-qtquick-layouts
-qml-module-qtquick2
-qtbase5-dev
-qtdeclarative5-dev
-qtquickcontrols2-5-dev
+qml6-module-qt-labs-folderlistmodel
+qml6-module-qt-labs-settings
+qml6-module-qt5compat-graphicaleffects
+qml6-module-qtqml-models
+qml6-module-qtquick-controls
+qml6-module-qtquick-dialogs
+qml6-module-qtquick-layouts
+qml6-module-qtquick
+qt6-5compat-dev
+qt6-base-dev
+qt6-base-private-dev
+qt6-declarative-dev
 uuid-dev
 xvfb
 x11-utils

CMakeLists.txt

@@ -115,13 +115,25 @@ set(GZ_FUEL_TOOLS_VER ${gz-fuel_tools10_VERSION_MAJOR})
 # Find gz-gui
 gz_find_package(gz-gui10 REQUIRED)
 set(GZ_GUI_VER ${gz-gui10_VERSION_MAJOR})
-gz_find_package (Qt5
+
+set(QT_MAJOR_VERSION 6)
+set(QT_MINOR_VERSION 4)
+gz_find_package (Qt${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()
+
 
 #--------------------------------------
 # Find gz-physics

src/gui/CMakeLists.txt

@@ -24,9 +24,9 @@ set(CMAKE_AUTORCC ON)
 
 # CMake AUTOMOC does not generate moc_*.cpp files automatically for headers
 # 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
+# files in `include/gz/sim/gui`, we use qt_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 +51,11 @@ 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}
+    Qt::Core
+    Qt::Qml
+    Qt::Quick
+    Qt::QuickControls2
+    Qt::Widgets
 )
 
 set(CMAKE_AUTOMOC OFF)

src/gui/Gui.cc

@@ -434,8 +434,8 @@ std::unique_ptr<gz::gui::Application> createGui(
 
   // Let QML files use C++ functions and properties
   auto context = new QQmlContext(app->Engine()->rootContext());
-  context->setContextProperty("AboutDialogHandler", aboutDialogHandler);
-  context->setContextProperty("GuiFileHandler", guiFileHandler);
+  context->setContextProperty("_AboutDialogHandler", aboutDialogHandler);
+  context->setContextProperty("_GuiFileHandler", guiFileHandler);
 
   // Instantiate GazeboDrawer.qml file into a component
   QQmlComponent component(app->Engine(), ":/Gazebo/GazeboDrawer.qml");
@@ -452,6 +452,10 @@ std::unique_ptr<gz::gui::Application> createGui(
   }
   else
   {
+    if (component.isError()) 
+    {
+      qWarning() << component.errors();
+    }
     gzerr << "Failed to instantiate custom drawer, drawer will be empty"
            << std::endl;
   }

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

@@ -19,7 +19,7 @@ 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
+
 
 ToolBar {
   Layout.minimumWidth: 280

src/gui/plugins/banana_for_scale/BananaForScale.qml

@@ -20,7 +20,7 @@ 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
+
 
 ToolBar {
   id: bananaForScale

src/gui/plugins/component_inspector/Boolean.qml

@@ -15,11 +15,11 @@
  *
 */
 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 "qrc:/ComponentInspector"
 
 Rectangle {