Split out workcell editor

rmf_site_editor/Cargo.toml

@@ -19,8 +19,6 @@ path = "examples/extending_menu.rs"
 bevy_egui = "0.23"
 bevy_mod_raycast = "0.16"
 bevy_mod_outline = "0.6"
-# PR merged after 0.10 but not released yet, bump to 0.10.1 once merged
-bevy_infinite_grid = { git = "https://github.com/ForesightMiningSoftwareCorporation/bevy_infinite_grid", rev = "86018dd" }
 bevy_gltf_export = { git = "https://github.com/luca-della-vedova/bevy_gltf_export", branch = "luca/transform_api"}
 bevy_polyline = "0.8.1"
 bevy_stl = "0.12"
@@ -49,7 +47,6 @@ utm = "0.1.6"
 sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "9fc35f2"}
 gz-fuel = { git = "https://github.com/open-rmf/gz-fuel-rs", branch = "main" }
 pathdiff = "*"
-tera = "1.19.1"
 ehttp = { version = "0.4", features = ["native-async"] }
 nalgebra = "0.32.5"
 anyhow = "*"

rmf_site_editor/examples/extending_menu.rs

@@ -15,9 +15,7 @@ impl FromWorld for MyMenuHandler {
         // This is all it takes to register a new menu item
         // We need to keep track of the entity in order to make
         // sure that we can check the callback
-        let unique_export = world
-            .spawn(MenuItem::Text("My unique export".to_string()))
-            .id();
+        let unique_export = world.spawn(MenuItem::Text("My unique export".into())).id();
 
         // Make it a child of the "File Menu"
         let file_header = world.resource::<FileMenu>().get();
@@ -37,9 +35,7 @@ impl FromWorld for MyMenuHandler {
         world.entity_mut(menu).push_children(&[sub_menu]);
 
         // Finally we can create a custom action
-        let custom_nested_menu = world
-            .spawn(MenuItem::Text("My Awesome Action".to_string()))
-            .id();
+        let custom_nested_menu = world.spawn(MenuItem::Text("My Awesome Action".into())).id();
         world
             .entity_mut(sub_menu)
             .push_children(&[custom_nested_menu]);
@@ -56,7 +52,7 @@ impl FromWorld for MyMenuHandler {
 /// an event that is of the same type as the one we are supposed to
 /// handle.
 fn watch_unique_export_click(mut reader: EventReader<MenuEvent>, menu_handle: Res<MyMenuHandler>) {
-    for event in reader.iter() {
+    for event in reader.read() {
         if event.clicked() && event.source() == menu_handle.unique_export {
             println!("Doing our epic export");
         }
@@ -67,7 +63,7 @@ fn watch_unique_export_click(mut reader: EventReader<MenuEvent>, menu_handle: Re
 /// an event that is of the same type as the one we are supposed to
 /// handle.
 fn watch_submenu_click(mut reader: EventReader<MenuEvent>, menu_handle: Res<MyMenuHandler>) {
-    for event in reader.iter() {
+    for event in reader.read() {
         if event.clicked() && event.source() == menu_handle.custom_nested_menu {
             println!("Submenu clicked");
         }

rmf_site_editor/src/demo_world.rs

@@ -3,9 +3,3 @@ pub fn demo_office() -> Vec<u8> {
         .as_bytes()
         .to_vec();
 }
-
-pub fn demo_workcell() -> Vec<u8> {
-    return include_str!("../../assets/demo_workcells/demo.workcell.json")
-        .as_bytes()
-        .to_vec();
-}

rmf_site_editor/src/interaction/mod.rs

@@ -16,11 +16,11 @@
 */
 
 use crate::site::{
-    update_anchor_transforms, CollisionMeshMarker, ConstraintMarker, DoorMarker, FiducialMarker,
-    FloorMarker, LaneMarker, LiftCabin, LiftCabinDoorMarker, LocationTags, MeasurementMarker,
-    SiteUpdateSet, VisualMeshMarker, WallMarker,
+    update_anchor_transforms, CollisionMeshMarker, CurrentEditDrawing, CurrentLevel, DoorMarker,
+    FiducialMarker, FloorMarker, LaneMarker, LiftCabin, LiftCabinDoorMarker, LocationTags,
+    MeasurementMarker, SiteUpdateSet, ToggleLiftDoorAvailability, VisualMeshMarker, WallMarker,
 };
-use crate::workcell::WorkcellVisualizationMarker;
+use crate::widgets::UserCameraDisplayPlugin;
 
 pub mod anchor;
 pub use anchor::*;
@@ -151,11 +151,14 @@ impl Plugin for InteractionPlugin {
             .init_resource::<Picked>()
             .init_resource::<PickingBlockers>()
             .init_resource::<GizmoState>()
+            .init_resource::<CurrentEditDrawing>()
+            .init_resource::<CurrentLevel>()
             .insert_resource(HighlightAnchors(false))
             .add_event::<ChangePick>()
             .add_event::<MoveTo>()
             .add_event::<GizmoClicked>()
             .add_event::<SpawnPreview>()
+            .add_event::<ToggleLiftDoorAvailability>()
             .add_plugins((
                 OutlinePlugin,
                 CategoryVisibilityPlugin::<DoorMarker>::visible(true),
@@ -165,14 +168,16 @@ impl Plugin for InteractionPlugin {
                 CategoryVisibilityPlugin::<LiftCabinDoorMarker>::visible(true),
                 CategoryVisibilityPlugin::<LocationTags>::visible(true),
                 CategoryVisibilityPlugin::<FiducialMarker>::visible(true),
-                CategoryVisibilityPlugin::<ConstraintMarker>::visible(true),
                 CategoryVisibilityPlugin::<VisualMeshMarker>::visible(true),
                 CategoryVisibilityPlugin::<CollisionMeshMarker>::visible(false),
                 CategoryVisibilityPlugin::<MeasurementMarker>::visible(true),
                 CategoryVisibilityPlugin::<WallMarker>::visible(true),
-                CategoryVisibilityPlugin::<WorkcellVisualizationMarker>::visible(true),
             ))
-            .add_plugins((CameraControlsPlugin, ModelPreviewPlugin));
+            .add_plugins((
+                CameraControlsPlugin,
+                ModelPreviewPlugin,
+                UserCameraDisplayPlugin::default(),
+            ));
 
         if !self.headless {
             app.add_plugins(SelectionPlugin::default())

rmf_site_editor/src/interaction/outline.rs

@@ -19,8 +19,8 @@ use crate::{interaction::*, site::DrawingMarker};
 use bevy::render::view::RenderLayers;
 use bevy_mod_outline::{OutlineBundle, OutlineMode, OutlineRenderLayers, OutlineVolume};
 use rmf_site_format::{
-    ConstraintMarker, DoorType, FiducialMarker, FloorMarker, LiftCabin, LightKind, LocationTags,
-    MeasurementMarker, ModelMarker, PhysicalCameraProperties, PrimitiveShape, WallMarker,
+    DoorType, FiducialMarker, FloorMarker, LiftCabin, LightKind, LocationTags, MeasurementMarker,
+    ModelMarker, PhysicalCameraProperties, PrimitiveShape, WallMarker,
 };
 use smallvec::SmallVec;
 
@@ -110,7 +110,6 @@ pub fn add_outline_visualization(
             Added<DoorType>,
             Added<LiftCabin<Entity>>,
             Added<MeasurementMarker>,
-            Added<ConstraintMarker>,
             Added<FiducialMarker>,
             Added<FloorMarker>,
             Added<DrawingMarker>,

rmf_site_editor/src/interaction/select.rs

@@ -52,12 +52,6 @@ pub use place_object::*;
 pub mod place_object_2d;
 pub use place_object_2d::*;
 
-pub mod place_object_3d;
-pub use place_object_3d::*;
-
-pub mod replace_parent_3d;
-use replace_parent_3d::*;
-
 pub mod replace_point;
 use replace_point::*;
 
@@ -239,15 +233,15 @@ fn process_new_selector(
 pub struct RunSelector {
     /// The select workflow will run this service until it terminates and then
     /// revert back to the inspector selector.
-    selector: Service<Option<Entity>, ()>,
+    pub selector: Service<Option<Entity>, ()>,
     /// If there is input for the selector, it will be stored in a [`SelectorInput`]
     /// component in this entity. The entity will be despawned as soon as the
     /// input is extracted.
-    input: Option<Entity>,
+    pub input: Option<Entity>,
 }
 
 #[derive(Component)]
-pub struct SelectorInput<T>(T);
+pub struct SelectorInput<T>(pub T);
 
 /// This component is put on entities with meshes to mark them as items that can
 /// be interacted with to

rmf_site_editor/src/interaction/select/place_object.rs

@@ -15,8 +15,11 @@
  *
 */
 
-use crate::{interaction::select::*, site::Model};
-use bevy::ecs::system::SystemParam;
+use crate::{
+    interaction::select::*,
+    site::{CurrentLevel, Model},
+};
+use bevy::ecs::system::{Command, SystemParam, SystemState};
 
 #[derive(Default)]
 pub struct ObjectPlacementPlugin {}
@@ -31,38 +34,28 @@ impl Plugin for ObjectPlacementPlugin {
 #[derive(Resource, Clone, Copy)]
 pub struct ObjectPlacementServices {
     pub place_object_2d: Service<Option<Entity>, ()>,
-    pub place_object_3d: Service<Option<Entity>, ()>,
-    pub replace_parent_3d: Service<Option<Entity>, ()>,
-    pub hover_service_object_3d: Service<(), (), Hover>,
 }
 
 impl ObjectPlacementServices {
     pub fn from_app(app: &mut App) -> Self {
-        let hover_service_object_3d = app.spawn_continuous_service(
-            Update,
-            hover_service::<PlaceObject3dFilter>
-                .configure(|config: SystemConfigs| config.in_set(SelectionServiceStages::Hover)),
-        );
         let place_object_2d = spawn_place_object_2d_workflow(app);
-        let place_object_3d = spawn_place_object_3d_workflow(hover_service_object_3d, app);
-        let replace_parent_3d = spawn_replace_parent_3d_workflow(hover_service_object_3d, app);
-        Self {
-            place_object_2d,
-            place_object_3d,
-            replace_parent_3d,
-            hover_service_object_3d,
-        }
+        Self { place_object_2d }
     }
 }
 
 #[derive(SystemParam)]
 pub struct ObjectPlacement<'w, 's> {
     pub services: Res<'w, ObjectPlacementServices>,
     pub commands: Commands<'w, 's>,
+    current_level: Res<'w, CurrentLevel>,
 }
 
 impl<'w, 's> ObjectPlacement<'w, 's> {
-    pub fn place_object_2d(&mut self, object: Model, level: Entity) {
+    pub fn place_object_2d(&mut self, object: Model) {
+        let Some(level) = self.current_level.0 else {
+            warn!("Unble to create [object:?] outside a level");
+            return;
+        };
         let state = self
             .commands
             .spawn(SelectorInput(PlaceObject2d { object, level }))
@@ -73,40 +66,32 @@ impl<'w, 's> ObjectPlacement<'w, 's> {
         });
     }
 
-    pub fn place_object_3d(
-        &mut self,
-        object: PlaceableObject,
-        parent: Option<Entity>,
-        workspace: Entity,
-    ) {
-        let state = self
-            .commands
-            .spawn(SelectorInput(PlaceObject3d {
-                object,
-                parent,
-                workspace,
-            }))
-            .id();
-        self.send(RunSelector {
-            selector: self.services.place_object_3d,
-            input: Some(state),
+    fn send(&mut self, run: RunSelector) {
+        self.commands.add(move |world: &mut World| {
+            world.send_event(run);
         });
     }
+}
 
-    pub fn replace_parent_3d(&mut self, object: Entity, workspace: Entity) {
-        let state = self
-            .commands
-            .spawn(SelectorInput(ReplaceParent3d { object, workspace }))
-            .id();
-        self.send(RunSelector {
-            selector: self.services.replace_parent_3d,
-            input: Some(state),
-        });
+/// Trait to be implemented to allow placing models with commands
+pub trait ObjectPlacementExt<'w, 's> {
+    fn place_object_2d(&mut self, object: Model);
+}
+
+impl<'w, 's> ObjectPlacementExt<'w, 's> for Commands<'w, 's> {
+    fn place_object_2d(&mut self, object: Model) {
+        self.add(ObjectPlaceCommand(object));
     }
+}
 
-    fn send(&mut self, run: RunSelector) {
-        self.commands.add(move |world: &mut World| {
-            world.send_event(run);
-        });
+#[derive(Deref, DerefMut)]
+pub struct ObjectPlaceCommand(Model);
+
+impl Command for ObjectPlaceCommand {
+    fn apply(self, world: &mut World) {
+        let mut system_state: SystemState<ObjectPlacement> = SystemState::new(world);
+        let mut placement = system_state.get_mut(world);
+        placement.place_object_2d(self.0);
+        system_state.apply(world);
     }
 }