Refactor codebase to migrate from PyQt5 to QtPy and PySide2 (#104)

Author: GiulioRomualdi

.github/workflows/ci.yml

@@ -9,7 +9,7 @@ on:
 jobs:
   check-style:
     name: Find Trailing Whitespace
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
       - name: Find Trailing Whitespace
@@ -23,42 +23,3 @@ jobs:
              exit 1
           fi
           exit 0
-
-  build:
-    name: Generate python files from ui
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-      - name: Remove broken apt repos [Ubuntu]
-        run: |
-          for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done
-      - name: Dependencies [Ubuntu]
-        run: |
-          sudo apt update
-          sudo apt install -y pyqt5-dev-tools
-      - name: Generate python files
-        run: |
-          bash ./generate-ui.sh
-
-      - name: Archive artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: autogenerated_files
-          path: robot_log_visualizer/ui/autogenerated
-
-  deploy:
-    runs-on: ubuntu-22.04
-    needs: [build]
-    if: github.ref == 'refs/heads/main'
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Download artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: autogenerated_files
-          path: robot_log_visualizer/ui/autogenerated
-      - name: Deploy
-        uses: stefanzweifel/git-auto-commit-action@v5
-        with:
-          commit_message: ⚙️ Automatic update of the python UI classes

generate-ui.sh

@@ -0,0 +1,4 @@
+import os
+
+# Prefer the PySide6 backend when QtPy resolves the Qt binding.
+os.environ.setdefault("QT_API", "pyside2")

robot_log_visualizer/__init__.py

@@ -7,8 +7,8 @@
 import sys
 
 # GUI
+from qtpy.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 +36,11 @@ def main():
     # show the main window
     gui.show()
 
-    return app.exec_()
+    exec_method = getattr(app, "exec", None)
+    if exec_method is None:
+        exec_method = app.exec_
+
+    return exec_method()
 
 
 if __name__ == "__main__":

robot_log_visualizer/__main__.py

@@ -8,7 +8,7 @@
 
 import numpy as np
 import pyqtgraph as pg  # type: ignore
-from PyQt5 import QtCore, QtWidgets  # type: ignore
+from qtpy 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/plotter/pyqtgraph_viewer_canvas.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 qtpy.QtCore import QMutex, QMutexLocker, QThread
 
 from robot_log_visualizer.utils.utils import PeriodicThreadState
 

robot_log_visualizer/robot_visualizer/meshcat_provider.py

@@ -5,6 +5,7 @@
 import time
 import traceback
 from collections import deque
+from typing import Iterable, Union
 
 import numpy as np
 
@@ -117,7 +118,7 @@ def __init__(self, period: float, signal_root_name: str):
         self.buffered_signals.add("robot_realtime::joints_state::positions")
 
     # TODO: implement a logic to remove signals that are not needed anymore
-    def add_signals_to_buffer(self, signals: list | set | str):
+    def add_signals_to_buffer(self, signals: Union[str, Iterable[str]]):
         """Add signals to the buffer set."""
         if isinstance(signals, str):
             signals = {signals}

robot_log_visualizer/signal_provider/realtime_signal_provider.py

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