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Fix some issues #58

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Merged
ahcorde merged 1 commit into from
Jun 8, 2026
Merged

Fix some issues #58

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2 changes: 1 addition & 1 deletion resource/RosTfTree.ui
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Original file line number Diff line number Diff line change
Expand Up @@ -171,7 +171,7 @@
<item>
<widget class="InteractiveGraphicsView" name="graphics_view">
<property name="renderHints">
<set>QPainter::Antialiasing|QPainter::HighQualityAntialiasing|QPainter::SmoothPixmapTransform|QPainter::TextAntialiasing</set>
<set>QPainter::Antialiasing|QPainter::SmoothPixmapTransform|QPainter::TextAntialiasing</set>
</property>
<property name="resizeAnchor">
<enum>QGraphicsView::AnchorViewCenter</enum>
Expand Down
16 changes: 10 additions & 6 deletions src/rqt_tf_tree/dotcode_tf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,12 +96,16 @@ def generate_dotcode(self,

yaml_data = tf2_frame_srv.call(FrameGraph.Request()).frame_yaml

def default_tftree_construct_mapping(self, node, deep=False):
data = self.construct_mapping_org(node, deep)
return {(str(key) if isinstance(key, int) else key): data[key] for key in data}

yaml.SafeLoader.construct_mapping_org = yaml.SafeLoader.construct_mapping
yaml.SafeLoader.construct_mapping = default_tftree_construct_mapping
# Patch SafeLoader.construct_mapping only once. Re-patching would
# save the already-patched function as construct_mapping_org,
# causing it to call itself recursively (RecursionError).
if not hasattr(yaml.SafeLoader, 'construct_mapping_org'):
def default_tftree_construct_mapping(self, node, deep=False):
data = self.construct_mapping_org(node, deep)
return {(str(key) if isinstance(key, int) else key): data[key] for key in data}

yaml.SafeLoader.construct_mapping_org = yaml.SafeLoader.construct_mapping
yaml.SafeLoader.construct_mapping = default_tftree_construct_mapping

data = yaml_parser.safe_load(yaml_data)
self.graph = self.generate(data, timer.now().nanoseconds / S_TO_NS)
Expand Down
24 changes: 15 additions & 9 deletions src/rqt_tf_tree/tf_tree.py
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,7 @@ def __init__(self, context):
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))

self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._scene.setBackgroundBrush(Qt.GlobalColor.white)
self._widget.graphics_view.setScene(self._scene)

self._widget.clear_buffer_push_button.setIcon(QIcon.fromTheme('edit-delete'))
Expand All @@ -96,7 +96,10 @@ def __init__(self, context):

self._widget.highlight_connections_check_box.toggled.connect(self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(QIcon.fromTheme('zoom-original'))
# 'zoom-fit-best' is the freedesktop standard name; fall back to the
# legacy 'zoom-best-fit' for themes (e.g. ubuntu-mono-*) that lack it.
self._widget.fit_in_view_push_button.setIcon(
QIcon.fromTheme('zoom-fit-best', QIcon.fromTheme('zoom-best-fit')))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)

self._widget.load_dot_push_button.setIcon(QIcon.fromTheme('document-open'))
Expand All @@ -109,7 +112,7 @@ def __init__(self, context):
self._widget.save_as_image_push_button.pressed.connect(self._save_image)

self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
Qt.ConnectionType.QueuedConnection)
self._deferred_fit_in_view.emit()

context.add_widget(self._widget)
Expand Down Expand Up @@ -206,7 +209,7 @@ def _load_dot(self, file_name=None):

def _fit_in_view(self):
self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
Qt.AspectRatioMode.KeepAspectRatio)

def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget,
Expand All @@ -217,10 +220,13 @@ def _save_dot(self):
return

file = QFile(file_name)
if not file.open(QIODevice.WriteOnly | QIODevice.Text):
if not file.open(QIODevice.OpenModeFlag.WriteOnly | QIODevice.OpenModeFlag.Text):
return

file.write(self._current_dotcode)
dotcode = self._current_dotcode
if isinstance(dotcode, str):
dotcode = dotcode.encode()
file.write(dotcode)
file.close()

def _save_svg(self):
Expand All @@ -237,7 +243,7 @@ def _save_svg(self):
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())

painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
painter.setRenderHint(QPainter.RenderHint.Antialiasing)
self._scene.render(painter)
painter.end()

Expand All @@ -251,9 +257,9 @@ def _save_image(self):
return

img = QImage((self._scene.sceneRect().size() * 2.0).toSize(),
QImage.Format_ARGB32_Premultiplied)
QImage.Format.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
painter.setRenderHint(QPainter.RenderHint.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
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