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Merge pull request #451 from bitcraze/toverumar/update_to_qt6
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Update examples to use PyQt6
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@ToveRumar
ToveRumar committed Jun 27, 2024
2 parents c09bd86 + 207c5a1 commit d1a91c6
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Showing 2 changed files with 52 additions and 51 deletions.
59 changes: 30 additions & 29 deletions examples/aideck/fpv.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -113,39 +113,40 @@ def __init__(self, URI):
self.mainLayout.addWidget(self.image_frame)

self.gridLayout = QtWidgets.QGridLayout()
self.gridLayout.addWidget(QtWidgets.QLabel('Position (X/Y/Z)'), 0, 0, 1, 1, QtCore.Qt.AlignLeft)
self.gridLayout.addWidget(QtWidgets.QLabel('Pose (roll/pitch/yaw)'), 1, 0, 1, 1, QtCore.Qt.AlignLeft)
self.gridLayout.addWidget(QtWidgets.QLabel('Position (X/Y/Z)'), 0, 0, 1, 1, QtCore.Qt.AlignmentFlag.AlignLeft)
self.gridLayout.addWidget(QtWidgets.QLabel('Pose (roll/pitch/yaw)'), 1,
0, 1, 1, QtCore.Qt.AlignmentFlag.AlignLeft)

self.labels = {
'stateEstimate.x': {
'widget': QtWidgets.QLabel('X'),
'x_grid': 0, 'y_grid': 1,
'alignment': QtCore.Qt.AlignLeft
'alignment': QtCore.Qt.AlignmentFlag.AlignLeft
},
'stateEstimate.y': {
'widget': QtWidgets.QLabel('Y'),
'x_grid': 0, 'y_grid': 2,
'alignment': QtCore.Qt.AlignLeft
'alignment': QtCore.Qt.AlignmentFlag.AlignLeft
},
'stateEstimate.z': {
'widget': QtWidgets.QLabel('Z'),
'x_grid': 0, 'y_grid': 3,
'alignment': QtCore.Qt.AlignLeft
'alignment': QtCore.Qt.AlignmentFlag.AlignLeft
},
'stabilizer.roll': {
'widget': QtWidgets.QLabel('roll'),
'x_grid': 1, 'y_grid': 1,
'alignment': QtCore.Qt.AlignLeft
'alignment': QtCore.Qt.AlignmentFlag.AlignLeft
},
'stabilizer.pitch': {
'widget': QtWidgets.QLabel('pitch'),
'x_grid': 1, 'y_grid': 2,
'alignment': QtCore.Qt.AlignLeft
'alignment': QtCore.Qt.AlignmentFlag.AlignLeft
},
'stabilizer.yaw': {
'widget': QtWidgets.QLabel('yaw'),
'x_grid': 1, 'y_grid': 3,
'alignment': QtCore.Qt.AlignLeft
'alignment': QtCore.Qt.AlignmentFlag.AlignLeft
}
}

Expand Down Expand Up @@ -191,48 +192,48 @@ def updateImage(self, image):

def keyPressEvent(self, event):
if (not event.isAutoRepeat()):
if (event.key() == QtCore.Qt.Key_Left):
if (event.key() == QtCore.Qt.Key.Key_Left):
self.updateHover('y', 1)
if (event.key() == QtCore.Qt.Key_Right):
if (event.key() == QtCore.Qt.Key.Key_Right):
self.updateHover('y', -1)
if (event.key() == QtCore.Qt.Key_Up):
if (event.key() == QtCore.Qt.Key.Key_Up):
self.updateHover('x', 1)
if (event.key() == QtCore.Qt.Key_Down):
if (event.key() == QtCore.Qt.Key.Key_Down):
self.updateHover('x', -1)
if (event.key() == QtCore.Qt.Key_A):
if (event.key() == QtCore.Qt.Key.Key_A):
self.updateHover('yaw', -70)
if (event.key() == QtCore.Qt.Key_D):
if (event.key() == QtCore.Qt.Key.Key_D):
self.updateHover('yaw', 70)
if (event.key() == QtCore.Qt.Key_Z):
if (event.key() == QtCore.Qt.Key.Key_Z):
self.updateHover('yaw', -200)
if (event.key() == QtCore.Qt.Key_X):
if (event.key() == QtCore.Qt.Key.Key_X):
self.updateHover('yaw', 200)
if (event.key() == QtCore.Qt.Key_W):
if (event.key() == QtCore.Qt.Key.Key_W):
self.updateHover('height', 0.1)
if (event.key() == QtCore.Qt.Key_S):
if (event.key() == QtCore.Qt.Key.Key_S):
self.updateHover('height', -0.1)

def keyReleaseEvent(self, event):
if (not event.isAutoRepeat()):
if (event.key() == QtCore.Qt.Key_Left):
if (event.key() == QtCore.Qt.Key.Key_Left):
self.updateHover('y', 0)
if (event.key() == QtCore.Qt.Key_Right):
if (event.key() == QtCore.Qt.Key.Key_Right):
self.updateHover('y', 0)
if (event.key() == QtCore.Qt.Key_Up):
if (event.key() == QtCore.Qt.Key.Key_Up):
self.updateHover('x', 0)
if (event.key() == QtCore.Qt.Key_Down):
if (event.key() == QtCore.Qt.Key.Key_Down):
self.updateHover('x', 0)
if (event.key() == QtCore.Qt.Key_A):
if (event.key() == QtCore.Qt.Key.Key_A):
self.updateHover('yaw', 0)
if (event.key() == QtCore.Qt.Key_D):
if (event.key() == QtCore.Qt.Key.Key_D):
self.updateHover('yaw', 0)
if (event.key() == QtCore.Qt.Key_W):
if (event.key() == QtCore.Qt.Key.Key_W):
self.updateHover('height', 0)
if (event.key() == QtCore.Qt.Key_S):
if (event.key() == QtCore.Qt.Key.Key_S):
self.updateHover('height', 0)
if (event.key() == QtCore.Qt.Key_Z):
if (event.key() == QtCore.Qt.Key.Key_Z):
self.updateHover('yaw', 0)
if (event.key() == QtCore.Qt.Key_X):
if (event.key() == QtCore.Qt.Key.Key_X):
self.updateHover('yaw', 0)

def sendHoverCommand(self):
Expand Down Expand Up @@ -285,4 +286,4 @@ def closeEvent(self, event):
appQt = QtWidgets.QApplication(sys.argv)
win = MainWindow(URI)
win.show()
appQt.exec_()
appQt.exec()
44 changes: 22 additions & 22 deletions examples/multiranger/multiranger_pointcloud.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@
except ImportError:
pass

from PyQt5 import QtCore, QtWidgets
from PyQt6 import QtCore, QtWidgets

logging.basicConfig(level=logging.INFO)

Expand Down Expand Up @@ -230,48 +230,48 @@ def __init__(self, keyupdateCB):

def on_key_press(self, event):
if (not event.native.isAutoRepeat()):
if (event.native.key() == QtCore.Qt.Key_Left):
if (event.native.key() == QtCore.Qt.Key.Key_Left):
self.keyCB('y', 1)
if (event.native.key() == QtCore.Qt.Key_Right):
if (event.native.key() == QtCore.Qt.Key.Key_Right):
self.keyCB('y', -1)
if (event.native.key() == QtCore.Qt.Key_Up):
if (event.native.key() == QtCore.Qt.Key.Key_Up):
self.keyCB('x', 1)
if (event.native.key() == QtCore.Qt.Key_Down):
if (event.native.key() == QtCore.Qt.Key.Key_Down):
self.keyCB('x', -1)
if (event.native.key() == QtCore.Qt.Key_A):
if (event.native.key() == QtCore.Qt.Key.Key_A):
self.keyCB('yaw', -70)
if (event.native.key() == QtCore.Qt.Key_D):
if (event.native.key() == QtCore.Qt.Key.Key_D):
self.keyCB('yaw', 70)
if (event.native.key() == QtCore.Qt.Key_Z):
if (event.native.key() == QtCore.Qt.Key.Key_Z):
self.keyCB('yaw', -200)
if (event.native.key() == QtCore.Qt.Key_X):
if (event.native.key() == QtCore.Qt.Key.Key_X):
self.keyCB('yaw', 200)
if (event.native.key() == QtCore.Qt.Key_W):
if (event.native.key() == QtCore.Qt.Key.Key_W):
self.keyCB('height', 0.1)
if (event.native.key() == QtCore.Qt.Key_S):
if (event.native.key() == QtCore.Qt.Key.Key_S):
self.keyCB('height', -0.1)

def on_key_release(self, event):
if (not event.native.isAutoRepeat()):
if (event.native.key() == QtCore.Qt.Key_Left):
if (event.native.key() == QtCore.Qt.Key.Key_Left):
self.keyCB('y', 0)
if (event.native.key() == QtCore.Qt.Key_Right):
if (event.native.key() == QtCore.Qt.Key.Key_Right):
self.keyCB('y', 0)
if (event.native.key() == QtCore.Qt.Key_Up):
if (event.native.key() == QtCore.Qt.Key.Key_Up):
self.keyCB('x', 0)
if (event.native.key() == QtCore.Qt.Key_Down):
if (event.native.key() == QtCore.Qt.Key.Key_Down):
self.keyCB('x', 0)
if (event.native.key() == QtCore.Qt.Key_A):
if (event.native.key() == QtCore.Qt.Key.Key_A):
self.keyCB('yaw', 0)
if (event.native.key() == QtCore.Qt.Key_D):
if (event.native.key() == QtCore.Qt.Key.Key_D):
self.keyCB('yaw', 0)
if (event.native.key() == QtCore.Qt.Key_W):
if (event.native.key() == QtCore.Qt.Key.Key_W):
self.keyCB('height', 0)
if (event.native.key() == QtCore.Qt.Key_S):
if (event.native.key() == QtCore.Qt.Key.Key_S):
self.keyCB('height', 0)
if (event.native.key() == QtCore.Qt.Key_Z):
if (event.native.key() == QtCore.Qt.Key.Key_Z):
self.keyCB('yaw', 0)
if (event.native.key() == QtCore.Qt.Key_X):
if (event.native.key() == QtCore.Qt.Key.Key_X):
self.keyCB('yaw', 0)

def set_position(self, pos):
Expand Down Expand Up @@ -361,4 +361,4 @@ def set_measurement(self, measurements):
appQt = QtWidgets.QApplication(sys.argv)
win = MainWindow(URI)
win.show()
appQt.exec_()
appQt.exec()

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