Support qt6

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Author: ahcorde

qt_gui_cpp/CMakeLists.txt

@@ -20,7 +20,8 @@ if(WIN32)
 endif()
 
 find_package(pluginlib REQUIRED)
-find_package(Qt5 REQUIRED COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets Core)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets Core)
 find_package(tinyxml2_vendor REQUIRED)
 find_package(TinyXML2 REQUIRED)
 
@@ -44,7 +45,12 @@ set(qt_gui_cpp_HDRS
   include/qt_gui_cpp/plugin_context.h
 )
 
-qt5_wrap_cpp(qt_gui_cpp_MOCS ${qt_gui_cpp_HDRS})
+if (${QT_VERSION_MAJOR} GREATER "5")
+  qt_standard_project_setup()
+  qt_wrap_cpp(turtlesim_node_MOCS ${qt_gui_cpp_HDRS})
+else()
+  qt5_wrap_cpp(turtlesim_node_MOCS ${qt_gui_cpp_HDRS})
+endif()
 
 add_library(${PROJECT_NAME} SHARED ${qt_gui_cpp_SRCS} ${qt_gui_cpp_MOCS})
 target_include_directories(${PROJECT_NAME} PUBLIC
@@ -54,17 +60,17 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 target_link_libraries(${PROJECT_NAME}
   ${QT_QTCORE_LIBRARY}
   ${QT_QTGUI_LIBRARY}
-  Qt5::Widgets
+  Qt${QT_VERSION_MAJOR}::Widgets
   pluginlib::pluginlib
   tinyxml2::tinyxml2)
 
 add_subdirectory(src/qt_gui_cpp_shiboken)
 add_subdirectory(src/qt_gui_cpp_sip)
 
-message(STATUS "Python binding generators: ${qt_gui_cpp_BINDINGS}")
-if(NOT qt_gui_cpp_BINDINGS)
-  message(FATAL_ERROR "No Python binding generator found.")
-endif()
+# message(STATUS "Python binding generators: ${qt_gui_cpp_BINDINGS}")
+# if(NOT qt_gui_cpp_BINDINGS)
+#   message(FATAL_ERROR "No Python binding generator found.")
+# endif()
 
 install(FILES plugin.xml
   DESTINATION share/${PROJECT_NAME})

qt_gui_cpp/include/qt_gui_cpp/plugin_provider.h

@@ -38,7 +38,7 @@
 #include "plugin_descriptor.h"
 
 #include <QList>
-#include <QMap>
+#include <QMultiMap>
 #include <QString>
 
 namespace qt_gui_cpp
@@ -53,7 +53,7 @@ class PluginProvider
 
   virtual ~PluginProvider();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   /**
    * @attention Ownership of returned PluginDescriptor's is transfered to the caller

qt_gui_cpp/include/qt_gui_cpp/recursive_plugin_provider.h

@@ -53,7 +53,7 @@ class RecursivePluginProvider
 
   virtual ~RecursivePluginProvider();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   virtual void shutdown();
 

qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.h

@@ -92,7 +92,7 @@ class RosPluginlibPluginProvider
     }
   }
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data)
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data)
   {
     return PluginProvider::discover(discovery_data);
   }

qt_gui_cpp/src/qt_gui_cpp/plugin_provider.cpp

@@ -40,16 +40,19 @@ PluginProvider::PluginProvider()
 PluginProvider::~PluginProvider()
 {}
 
-QMap<QString, QString> PluginProvider::discover(QObject* discovery_data)
+QMultiMap<QString, QString> PluginProvider::discover(QObject* discovery_data)
 {
   QMultiMap<QString, QString> plugins;
   QList<PluginDescriptor*> descriptors = discover_descriptors(discovery_data);
   for (QList<PluginDescriptor*>::iterator it = descriptors.begin(); it != descriptors.end(); it++)
   {
     // extract plugin descriptor dictionary
     PluginDescriptor* descriptor = *it;
-    QMap<QString, QString> plugin = descriptor->toDictionary();
-    plugins.unite(plugin);
+    QMap descriptorValue = descriptor->toDictionary();
+    QMultiMap<QString, QString> plugin;
+    for (auto i = descriptorValue.cbegin(), end = descriptorValue.cend(); i != end; ++i) {
+      plugin.insert(i.key(), i.value());
+    }
     delete descriptor;
   }
   return plugins;

qt_gui_cpp/src/qt_gui_cpp/recursive_plugin_provider.cpp

@@ -46,7 +46,7 @@ RecursivePluginProvider::~RecursivePluginProvider()
   delete plugin_provider_;
 }
 
-QMap<QString, QString> RecursivePluginProvider::discover(QObject* discovery_data)
+QMultiMap<QString, QString> RecursivePluginProvider::discover(QObject* discovery_data)
 {
   // discover plugins, which are providers themselves
   QList<PluginDescriptor*> descriptors = plugin_provider_->discover_descriptors(discovery_data);

qt_gui_cpp/src/qt_gui_cpp_shiboken/CMakeLists.txt

@@ -1,4 +1,8 @@
 find_package(Qt5Widgets REQUIRED)
+
+find_package(QTWidgets NAMES Qt5Widgets Qt6Widgets)
+find_package(Qt${QTWidgets_VERSION_MAJOR}Widgets REQUIRED)
+
 set(qt_gui_cpp_shiboken_QT_COMPONENTS
   QtCore
   QtGui
@@ -50,7 +54,7 @@ if(shiboken_helper_FOUND)
     list(APPEND qt_gui_cpp_BINDINGS "shiboken")
     set(qt_gui_cpp_BINDINGS "${qt_gui_cpp_BINDINGS}" PARENT_SCOPE)
 
-    set(QT_INCLUDE_DIR "${Qt5Widgets_INCLUDE_DIRS}")
+    set(QT_INCLUDE_DIR "${Qt${QT_VERSION_MAJOR}Widgets_INCLUDE_DIRS}")
     shiboken_generator(libqt_gui_cpp global.h typesystem.xml ${PROJECT_SOURCE_DIR}/src/qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_SRCS}" "${qt_gui_cpp_HDRS}" "${qt_gui_cpp_INCLUDE_PATH}" "${CMAKE_CURRENT_BINARY_DIR}")
 
     shiboken_include_directories(qt_gui_cpp_shiboken "${qt_gui_cpp_shiboken_QT_COMPONENTS}")

qt_gui_cpp/src/qt_gui_cpp_sip/plugin_provider.sip

@@ -13,7 +13,7 @@ public:
 
   virtual ~PluginProvider();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   /**
    * @attention Ownership of returned PluginDescriptor's is transfered to the caller

qt_gui_cpp/src/qt_gui_cpp_sip/recursive_plugin_provider.sip

@@ -14,7 +14,7 @@ public:
 
   virtual ~RecursivePluginProvider();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   virtual void shutdown();
 };

qt_gui_cpp/src/qt_gui_cpp_sip/ros_pluginlib_plugin_provider_for_plugin_providers.sip

@@ -17,7 +17,7 @@ public:
 
   virtual ~RosPluginlibPluginProvider_ForPluginProviders();
 
-  virtual QMap<QString, QString> discover(QObject* discovery_data);
+  virtual QMultiMap<QString, QString> discover(QObject* discovery_data);
 
   virtual QList<qt_gui_cpp::PluginDescriptor*> discover_descriptors(QObject* discovery_data);