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Merged
florent-lamiraux merged 2 commits into from
Feb 27, 2026
Merged

Custom message handler to suppress Qt debug messages #124

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fc93dd3
Custom message handler to suppress Qt debug messages
psardin001 Feb 27, 2026
114011b
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Feb 27, 2026
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30 changes: 30 additions & 0 deletions src/pyhpp_plot/graph_viewer.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,30 @@ namespace {

using GraphPtr_t = hpp::manipulation::graph::GraphPtr_t;

// Custom message handler to suppress Qt debug messages
void quietMessageHandler(QtMsgType type, const QMessageLogContext& context,
const QString& msg) {
if (type == QtDebugMsg) {
return; // Suppress debug messages
}
// For other message types, use default behavior
QByteArray localMsg = msg.toLocal8Bit();
switch (type) {
case QtInfoMsg:
fprintf(stderr, "%s\n", localMsg.constData());
break;
case QtWarningMsg:
fprintf(stderr, "Warning: %s\n", localMsg.constData());
break;
case QtCriticalMsg:
fprintf(stderr, "Critical: %s\n", localMsg.constData());
break;
case QtFatalMsg:
fprintf(stderr, "Fatal: %s\n", localMsg.constData());
abort();
}
}

static const char* GRAPH_CAPSULE_NAME = "hpp.manipulation.graph.GraphPtr";

/// Extract GraphPtr_t from a Python object
Expand Down Expand Up @@ -137,6 +161,9 @@ void showGraphBlocking(bp::object py_graph) {
throw std::runtime_error("Graph is null");
}

// Suppress Qt debug output
qInstallMessageHandler(quietMessageHandler);

int argc = 1;
static char app_name[] = "hpp-plot-native";
char* argv[] = {app_name, nullptr};
Expand Down Expand Up @@ -172,6 +199,9 @@ void showInteractiveGraph(bp::object py_graph, bp::object node_callback,
throw std::runtime_error("Graph is null");
}

// Suppress Qt debug output
qInstallMessageHandler(quietMessageHandler);

int argc = 1;
static char app_name[] = "hpp-plot-interactive";
char* argv[] = {app_name, nullptr};
Expand Down
68 changes: 13 additions & 55 deletions src/pyhpp_plot/interactive_viewer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -99,21 +99,12 @@ def _generate_random_config(self, state_name):
self.config_callback(
q_proj, f"Random config in state: {state_name}"
)
print(f"Generated config for state '{state_name}'")
return

if error < min_error:
min_error = error

print(
f"Failed to generate config for state '{state_name}' "
f"after 20 attempts (min error: {min_error:.6f})"
)
except Exception as e:
print(f"Error generating random config: {e}")
import traceback

traceback.print_exc()
except Exception:
pass

def _generate_from_current_config(self, state_name):
"""Project current config to state.
Expand All @@ -123,11 +114,10 @@ def _generate_from_current_config(self, state_name):
"""
try:
if self.current_config is None:
print("No current config available. Generate a config first.")
return

state = self.graph.getState(state_name)
success, q_proj, error = self.graph.applyStateConstraints(
success, q_proj, _error = self.graph.applyStateConstraints(
state, self.current_config
)

Expand All @@ -136,17 +126,8 @@ def _generate_from_current_config(self, state_name):
self.config_callback(
q_proj, f"Current config projected to state: {state_name}"
)
print(f"Projected current config to state '{state_name}'")
else:
print(
f"Failed to project current config to state "
f"'{state_name}' (error: {error:.6f})"
)
except Exception as e:
print(f"Error projecting current config: {e}")
import traceback

traceback.print_exc()
except Exception:
pass

def _set_target_state(self, state_name):
"""Set state as goal for planning.
Expand All @@ -166,15 +147,9 @@ def _set_target_state(self, state_name):

if success:
self.problem.addGoalConfig(q_goal)
print(f"Added goal config in state '{state_name}'")
return

print(f"Failed to generate goal config for state '{state_name}'")
except Exception as e:
print(f"Error setting target state: {e}")
import traceback

traceback.print_exc()
except Exception:
pass

def _extend_current_to_current(self, edge_name):
"""Generate target config along edge from current config.
Expand All @@ -185,25 +160,18 @@ def _extend_current_to_current(self, edge_name):
"""
try:
if self.current_config is None:
print("No current config available. Generate a config first.")
return

edge = self.graph.getTransition(edge_name)
success, q_out, error = self.graph.generateTargetConfig(
success, q_out, _error = self.graph.generateTargetConfig(
edge, self.current_config, self.current_config
)

if success:
self.current_config = q_out
self.config_callback(q_out, f"Extended along edge: {edge_name}")
print(f"Extended current config along edge '{edge_name}'")
else:
print(f"Failed to extend along edge '{edge_name}' (error: {error:.6f})")
except Exception as e:
print(f"Error extending current config: {e}")
import traceback

traceback.print_exc()
except Exception:
pass

def _extend_current_to_random(self, edge_name):
"""Generate target config along edge to random config.
Expand All @@ -214,14 +182,13 @@ def _extend_current_to_random(self, edge_name):
"""
try:
if self.current_config is None:
print("No current config available. Generate a config first.")
return

edge = self.graph.getTransition(edge_name)
shooter = self.problem.configurationShooter()
q_random = shooter.shoot()

success, q_out, error = self.graph.generateTargetConfig(
success, q_out, _error = self.graph.generateTargetConfig(
edge, self.current_config, q_random
)

Expand All @@ -230,17 +197,8 @@ def _extend_current_to_random(self, edge_name):
self.config_callback(
q_out, f"Extended along edge to random: {edge_name}"
)
print(f"Extended to random config along edge '{edge_name}'")
else:
print(
f"Failed to extend to random along edge '{edge_name}' "
f"(error: {error:.6f})"
)
except Exception as e:
print(f"Error extending to random config: {e}")
import traceback

traceback.print_exc()
except Exception:
pass


class GraphViewerThread(threading.Thread):
Expand Down