QT5 support to run on macOS 10.12.x (and other OS)

[sighmon]

Trying brew install qt on macOS 10.12.1 now gives the widely reported: This formula either does not compile or function as expected on macOS versions newer than El Capitan due to an upstream incompatibility.

Installing brew install qt5 works fine.

Are there any plans to update this repo to support QT5?

I did some find/replace from source, but notice that QtWebKit isn't included anymore: from PyQt5 import QtWebKit ImportError: cannot import name 'QtWebKit' :-(

So the migration process might be a little more involved.

[ataffanel]

So far we found no reason to move to Qt5 but this sounds like a good one. Do you think it will help packaging the app for Mac? (see ticket #231, I passed a lot of time trying to fix that without success ...)

Our usage of webkit is limited to a single tab so I would not be too worried about that (and we use it for the GPS map that does not work anymore so we have to fix it anyway).

If you remove the gps tab, does it look easy to port?

[sighmon]

@ataffanel A packaged app would be awesome - but in the meantime I've got the initial interface running with QT5, and can connect to my crazyflie, but I can't get the input devices tab to work.

https://github.com/sighmon/crazyflie-clients-python/tree/qt5

This is the file that crashes out: src/cfclient/ui/dialogs/inputconfigdialogue.py

Error:

QObject::connect: Incompatible sender/receiver arguments
        QTimer::timeout() --> DeviceReader::mapped_values_signal(PyQt_PyObject)
Traceback (most recent call last):
  File "/Users/sighmon/Coding/crazyflie quadcopter/cfclient-2016.4.1/src/cfclient/ui/main.py", line 544, in _show_input_device_config_dialog
    self.inputConfig = InputConfigDialogue(self.joystickReader)
  File "/Users/sighmon/Coding/crazyflie quadcopter/cfclient-2016.4.1/src/cfclient/ui/dialogs/inputconfigdialogue.py", line 61, in __init__
    self._input_device_reader = DeviceReader(self._input)
  File "/Users/sighmon/Coding/crazyflie quadcopter/cfclient-2016.4.1/src/cfclient/ui/dialogs/inputconfigdialogue.py", line 456, in __init__
    self.start(self._read_timer, self._read_timer.timeout.connect(tofix), self._read_input)
TypeError: connect() failed between timeout() and mapped_values_signal()
Abort trap: 6

I'm not sure what I'm supposed to be handing in to self._read_timer.timeout.connect(?)

It's also crashing on disconnect:

INFO:cflib.crazyflie:Callback->Disconnected from [radio://0/48/250K]
Traceback (most recent call last):
  File "/Users/sighmon/Coding/crazyflie quadcopter/cfclient-2016.4.1/src/cfclient/ui/tabs/ParamTab.py", line 258, in _disconnected
    self._model.reset()
  File "/Users/sighmon/Coding/crazyflie quadcopter/cfclient-2016.4.1/src/cfclient/ui/tabs/ParamTab.py", line 220, in reset
    super(ParamBlockModel, self).reset()
AttributeError: 'super' object has no attribute 'reset'
Abort trap: 6

And it doesn't actually seem to be receiving (or maybe just displaying) data back from the crazyflie when connected.. but it starts, so that's something. :-)

[ataffanel]

Thanks! I am testing your branch to see if I can help.

I found that pyQT5 is finally available in pypi so it can be installed with pip, this was the most problematic dependency and so we might soon be able to install cfclient with just pip install cfclient on most systems!

One first problem I encounter is that QtWebEngineWidgets is not part of ubuntu/debian yet: https://bugs.launchpad.net/ubuntu/+source/qtbase-opensource-src/+bug/1579265. But there is a package called python3-pyqt5.qtwebkit so it seems that qtwebkit is still part or pyqt5.

For now, I am disabling the gps tab and testing the rest.

[ataffanel]

I have pushed a couple of fix:

• The main window was displayed in a weird place (I have 2 screens) so I added code to center the window on the current screen
• Add qt/pyqt version to about box
• Fix the gamepad mapping tab.

For me getting data from the Crazyflie and flying works well.

I am investigating the crash at disconnect and I found new problems that I am looking at too:

• The log toc tab is not working
• The Plot tab is not working (pyqtgraph has not released any version supporting qt5, works by pip installing the pyqtgraph git)
• Scan button is not working

I am pushing commits on a clone of your branch: https://github.com/ataffanel/crazyflie-clients-python/tree/qt5. If you pull my changes we can work on the same code.

[sighmon]

@ataffanel Awesome, thanks. I've pulled that in now, but when my PS3 remote is connected via Bluetooth or USB it crashes cfclient with error:

INFO:cfclient.utils.input.inputreaders.pysdl2:Found 1 devices
INFO:cfclient.utils.input:Selected MUX: Normal
INFO:cfclient.ui.main:Role of PLAYSTATION(R)3 Controller is Device
INFO:cfclient.utils.input.mux:Adding device PLAYSTATION(R)3 Controller to MUX Normal
INFO:cfclient.ui.main:Select first device
2016-11-02 19:13:50.205 Python[29959:12287919] *** Terminating app due to uncaught exception 'NSInternalInconsistencyException', reason: 'nextEventMatchingMask should only be called from the Main Thread!'
*** First throw call stack:
(
    0   CoreFoundation                      0x00007fff8765148b __exceptionPreprocess + 171
    1   libobjc.A.dylib                     0x00007fff9bdb3cad objc_exception_throw + 48
    2   AppKit                              0x00007fff8596450c -[NSApplication(NSEvent) shouldBeTreatedAsInkEvent:] + 0
    3   libSDL2.dylib                       0x0000000109f4a3bf Cocoa_PumpEvents + 254
    4   libSDL2.dylib                       0x0000000109eedb48 SDL_PumpEvents_REAL + 23
    5   _ctypes.cpython-35m-darwin.so       0x0000000109e6e79f ffi_call_unix64 + 79
    6   ???                                 0x000070000c5993e0 0x0 + 123145509508064
)
libc++abi.dylib: terminating with uncaught exception of type NSException
Abort trap: 6

[ataffanel]

I saw crash yesterday, it is great that you got a trace since I got nothing. Now there is a chance to find what it is at least. This seems to be about the threads. we have a lot of threads running in the client and apparently MacOS is not happy about running something outside of the main thread, now we need to find what this something is and why it was not a problem with Qt4.

[sighmon]

@ataffanel the trace didn't help me much though.. I haven't done a lot of python debugging, and couldn't find the thread call that was throwing the NSInternalInconsistencyException.

[ataffanel]

The trace comes directly from Mac-os, apparently we are calling GUI things in non-gui context. Maybe related to my changes with the timer, it definitely seems to come from SDL in any case not from QT.

One thing I can think off would be to put all signals related to the gamepad in the main thread context. QT will then execute the signal handler in the main thread.

[dgellow]

Any news?

[sighmon]

@dgellow I don't know enough about QT5 threading to know how to fix the problems, sorry! So it's in the hands of @ataffanel for now.

[ataffanel]

There is still the same problem related to threads (more related to the OS than to QT, its mac OS that is crashing us).

By the way I discovered that miniconda (the python environment I use on Windows) works on Mac to run the QT4 client, but I saw a bug so maybe some other mac could test to see if the bug comes from my machine or from QT4: #273.

[krichardsson]

I ran into a problem on my Mac where I had QT4 working and then installed QT5. After that QT4 stopped working and further more it turned out to be impossible(?) to fix QT4 again. In my opinion QT5 is becoming urgent.

This is also a warning to Mac users (and possibly other OSes), if you have QT4 working with the client, do not install QT5 as it might mess up QT4.