Reenable PySide2 support

ros-visualization · Jan 3, 2023 · 020e69e · 020e69e
1 parent 5340258
commit 020e69e
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Showing 4 changed files with 95 additions and 103 deletions.
diff --git a/src/python_bindings/CMakeLists.txt b/src/python_bindings/CMakeLists.txt
@@ -1,7 +1,6 @@
 set(rviz_BINDINGS "")
 
-# TODO(wjwwood): re-enabled PySide2 support when it is fixed.
-# add_subdirectory(shiboken)
+add_subdirectory(shiboken)
 add_subdirectory(sip)
 
 message(STATUS "Python binding generators: ${rviz_BINDINGS}")

diff --git a/src/python_bindings/shiboken/CMakeLists.txt b/src/python_bindings/shiboken/CMakeLists.txt
@@ -10,92 +10,84 @@ find_package(python_qt_binding REQUIRED)
 include(${python_qt_binding_EXTRAS_DIR}/shiboken_helper.cmake)
 
 if(shiboken_helper_FOUND)
-  set(_configure_shiboken TRUE)
-  if(Shiboken_VERSION VERSION_GREATER "1.1.1")
-    if(APPLE AND Shiboken_VERSION VERSION_GREATER "1.2.1")
-      # This appears to no longer be a problem at least with Shiboken 1.2.2 on OS X and Boost 1.57.
-      set(_configure_shiboken TRUE)
-    else()
-      # shiboken 1.1.2 and higher will segfault until https://bugreports.qt-project.org/browse/PYSIDE-218 is fixed
-      set(_configure_shiboken FALSE)
-      message(WARNING "Shiboken version ${Shiboken_VERSION} would segfault when trying to process rviz (see https://bugreports.qt-project.org/browse/PYSIDE-218). Therefore shiboken bindings are being skipped.")
-    endif()
-  endif()
-  if(_configure_shiboken)
-    list(APPEND rviz_BINDINGS "shiboken")
-    set(rviz_BINDINGS "${rviz_BINDINGS}" PARENT_SCOPE)
+  list(APPEND rviz_BINDINGS "shiboken")
+  set(rviz_BINDINGS "${rviz_BINDINGS}" PARENT_SCOPE)
 
-    # To add a new rviz class to the bindings, add it:
-    # - in rviz_shiboken_SRCS below, like rviz_myclass_wrapper.cpp
-    # - in rviz_HDRS below, like ../rviz/my_class.h
-    # - in global.h, like #include <rviz/my_class.h>
-    # - in typesystem.xml, like <object-type name="rviz::MyClass"/>
+  # To add a new rviz class to the bindings, add it:
+  # - in rviz_shiboken_SRCS below, like rviz_myclass_wrapper.cpp
+  # - in rviz_HDRS below, like ../rviz/my_class.h
+  # - in global.h, like #include <rviz/my_class.h>
+  # - in typesystem.xml, like <object-type name="rviz::MyClass"/>
 
-    set(rviz_shiboken_SRCS
-      librviz_shiboken/librviz_shiboken_module_wrapper.cpp
-      librviz_shiboken/rviz_visualizationframe_wrapper.cpp
-      librviz_shiboken/rviz_visualizationmanager_wrapper.cpp
-      librviz_shiboken/rviz_display_wrapper.cpp
-      librviz_shiboken/rviz_displaygroup_wrapper.cpp
-      librviz_shiboken/rviz_ogrelogging_wrapper.cpp
-      librviz_shiboken/rviz_property_wrapper.cpp
-      librviz_shiboken/rviz_boolproperty_wrapper.cpp
-      librviz_shiboken/rviz_paneldockwidget_wrapper.cpp
-      librviz_shiboken/rviz_viewmanager_wrapper.cpp
-      librviz_shiboken/rviz_viewcontroller_wrapper.cpp
-      librviz_shiboken/rviz_tool_wrapper.cpp
-      librviz_shiboken/rviz_toolmanager_wrapper.cpp
-      librviz_shiboken/rviz_config_wrapper.cpp
-      librviz_shiboken/rviz_config_mapiterator_wrapper.cpp
-      librviz_shiboken/rviz_yamlconfigreader_wrapper.cpp
-      librviz_shiboken/rviz_yamlconfigwriter_wrapper.cpp
-      librviz_shiboken/rviz_wrapper.cpp
-    )
+  set(rviz_shiboken_SRCS
+    librviz_shiboken/librviz_shiboken_module_wrapper.cpp
+    librviz_shiboken/rviz_visualizationframe_wrapper.cpp
+    librviz_shiboken/rviz_visualizationmanager_wrapper.cpp
+    librviz_shiboken/rviz_display_wrapper.cpp
+    librviz_shiboken/rviz_displaygroup_wrapper.cpp
+    librviz_shiboken/rviz_ogrelogging_wrapper.cpp
+    librviz_shiboken/rviz_property_wrapper.cpp
+    librviz_shiboken/rviz_boolproperty_wrapper.cpp
+    librviz_shiboken/rviz_paneldockwidget_wrapper.cpp
+    librviz_shiboken/rviz_viewmanager_wrapper.cpp
+    librviz_shiboken/rviz_viewcontroller_wrapper.cpp
+    librviz_shiboken/rviz_tool_wrapper.cpp
+    librviz_shiboken/rviz_toolmanager_wrapper.cpp
+    librviz_shiboken/rviz_config_wrapper.cpp
+    librviz_shiboken/rviz_config_mapiterator_wrapper.cpp
+    librviz_shiboken/rviz_yamlconfigreader_wrapper.cpp
+    librviz_shiboken/rviz_yamlconfigwriter_wrapper.cpp
+    librviz_shiboken/rviz_wrapper.cpp
+  )
+  foreach(_FILE ${rviz_shiboken_SRCS})
+    set_property(SOURCE ${_FILE} PROPERTY SKIP_AUTOGEN ON)
+  endforeach()
 
-    set(rviz_shiboken_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/src)
+  set(rviz_shiboken_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/src)
 
-    set(rviz_HDRS
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/visualization_frame.h
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/visualization_manager.h
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/view_manager.h
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/view_controller.h
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/display.h
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/display_group.h
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/properties/property.h
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/properties/bool_property.h
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/panel_dock_widget.h
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/tool.h
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/tool_manager.h
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/ogre_helpers/ogre_logging.h
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/config.h
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/yaml_config_reader.h
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/yaml_config_writer.h
-    )
+  set(rviz_HDRS
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/visualization_frame.h
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/visualization_manager.h
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/view_manager.h
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/view_controller.h
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/display.h
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/display_group.h
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/properties/property.h
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/properties/bool_property.h
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/panel_dock_widget.h
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/tool.h
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/tool_manager.h
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/ogre_helpers/ogre_logging.h
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/config.h
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/yaml_config_reader.h
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/yaml_config_writer.h
+  )
 
-    shiboken_generator(
-      librviz
-      global.h
-      typesystem.xml
-      ${PROJECT_SOURCE_DIR}/src/python_bindings/shiboken
-      "${rviz_shiboken_SRCS}"
-      "${rviz_HDRS}"
-      "${rviz_shiboken_INCLUDE_DIR}"
-      "${CMAKE_CURRENT_BINARY_DIR}"
-    )
+  include_directories(${Qt5Core_INCLUDE_DIRS} ${Qt5Gui_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS})
 
-    include_directories(rviz_shiboken
-      ${rviz_shiboken_INCLUDE_DIR}/rviz
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/properties
-      ${rviz_shiboken_INCLUDE_DIR}/rviz/ogre_helpers
-    )
-    shiboken_include_directories(rviz_shiboken "${rviz_shiboken_QT_COMPONENTS}")
-    add_library(rviz_shiboken ${rviz_shiboken_SRCS})
-    set_target_properties(rviz_shiboken PROPERTIES
-      LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${PYTHON_INSTALL_DIR}/rviz)
-    target_link_libraries(rviz_shiboken ${PROJECT_NAME})
-    shiboken_target_link_libraries(rviz_shiboken "${rviz_shiboken_QT_COMPONENTS}")
+  shiboken_generator(
+    librviz
+    global.h
+    typesystem.xml
+    ${PROJECT_SOURCE_DIR}/src/python_bindings/shiboken
+    "${rviz_shiboken_SRCS}"
+    "${rviz_HDRS}"
+    "${rviz_shiboken_INCLUDE_DIR}"
+    "${CMAKE_CURRENT_BINARY_DIR}"
+  )
 
-    install(TARGETS rviz_shiboken
-      LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
-  endif()
+  include_directories(rviz_shiboken
+    ${rviz_shiboken_INCLUDE_DIR}/rviz
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/properties
+    ${rviz_shiboken_INCLUDE_DIR}/rviz/ogre_helpers
+  )
+  shiboken_include_directories(rviz_shiboken "${rviz_shiboken_QT_COMPONENTS}")
+  add_library(rviz_shiboken ${rviz_shiboken_SRCS})
+  set_target_properties(rviz_shiboken PROPERTIES
+    LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${PYTHON_INSTALL_DIR}/rviz)
+  target_link_libraries(rviz_shiboken ${PROJECT_NAME})
+  shiboken_target_link_libraries(rviz_shiboken "${rviz_shiboken_QT_COMPONENTS}")
+
+  install(TARGETS rviz_shiboken
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
 endif()
diff --git a/src/python_bindings/shiboken/global.h b/src/python_bindings/shiboken/global.h
@@ -37,7 +37,7 @@
 #define NULL 0
 #endif
 
-#include "pyside_global.h"
+#include "pyside2_global.h"
 
 #include <QtCore/QtCore>
 #include <QtGui/QtGui>

diff --git a/src/python_bindings/shiboken/typesystem.xml b/src/python_bindings/shiboken/typesystem.xml
@@ -2,23 +2,24 @@
 <typesystem package="librviz_shiboken">
   <load-typesystem name="typesystem_core.xml" generate="no"/>
   <load-typesystem name="typesystem_gui.xml" generate="no"/>
-  <namespace-type name="rviz"/>
-  <object-type name="rviz::VisualizationFrame"/>
-  <object-type name="rviz::VisualizationManager"/>
-  <object-type name="rviz::Display"/>
-  <object-type name="rviz::DisplayGroup"/>
-  <object-type name="rviz::OgreLogging"/>
-  <object-type name="rviz::Property"/>
-  <object-type name="rviz::BoolProperty"/>
-  <object-type name="rviz::PanelDockWidget"/>
-  <object-type name="rviz::ViewManager"/>
-  <object-type name="rviz::ViewController"/>
-  <object-type name="rviz::Tool"/>
-  <object-type name="rviz::ToolManager"/>
-  <object-type name="rviz::Config">
-    <enum-type name="Type"/>
-    <object-type name="MapIterator"/>
-  </object-type>
-  <object-type name="rviz::YamlConfigReader"/>
-  <object-type name="rviz::YamlConfigWriter"/>
+  <namespace-type name="rviz">
+    <object-type name="VisualizationFrame"/>
+    <object-type name="VisualizationManager"/>
+    <object-type name="Display"/>
+    <object-type name="DisplayGroup"/>
+    <object-type name="OgreLogging"/>
+    <object-type name="Property"/>
+    <object-type name="BoolProperty"/>
+    <object-type name="PanelDockWidget"/>
+    <object-type name="ViewManager"/>
+    <object-type name="ViewController"/>
+    <object-type name="Tool"/>
+    <object-type name="ToolManager"/>
+    <object-type name="Config">
+      <enum-type name="Type"/>
+      <object-type name="MapIterator"/>
+    </object-type>
+    <object-type name="YamlConfigReader"/>
+    <object-type name="YamlConfigWriter"/>
+  </namespace-type>
 </typesystem>