Fix compilation for rmf_site_format

Signed-off-by: Luca Della Vedova <[email protected]>

.github/workflows/ci_linux.yaml

@@ -20,7 +20,13 @@ jobs:
         sudo apt-get update
         sudo apt-get install libasound2-dev libudev-dev libgtk-3-dev
     - uses: actions/checkout@v3
-    - name: Build
-      run: cargo build
+    - name: Build rmf_site_format
+      run: |
+        cd rmf_site_format
+        cargo build
+    - name: Build rmf_site_editor
+      run: |
+        cd -
+        cargo build
     - name: Run tests
       run: cargo test

rmf_site_editor/src/site/save.rs

@@ -244,7 +244,6 @@ fn generate_levels(
                 &AssetSource,
                 &Pose,
                 &IsStatic,
-                &ConstraintDependents,
                 &Scale,
                 &SiteID,
                 &Parent,
@@ -450,7 +449,7 @@ fn generate_levels(
         }
     }
 
-    for (name, source, pose, is_static, constraint_dependents, scale, id, parent) in &q_models {
+    for (name, source, pose, is_static, scale, id, parent) in &q_models {
         if let Ok((_, level_id, _, _, _)) = q_levels.get(parent.get()) {
             if let Some(level) = levels.get_mut(&level_id.0) {
                 level.models.insert(
@@ -460,7 +459,6 @@ fn generate_levels(
                         source: source.clone(),
                         pose: pose.clone(),
                         is_static: is_static.clone(),
-                        constraints: constraint_dependents.clone(),
                         scale: scale.clone(),
                         marker: ModelMarker,
                     },

rmf_site_editor/src/site/sdf.rs

@@ -25,8 +25,8 @@ use crate::SdfRoot;
 use sdformat_rs::{SdfGeometry, SdfPose, Vector3d};
 
 use rmf_site_format::{
-    Angle, AssetSource, ConstraintDependents, Geometry, IsStatic, MeshPrimitive, Model,
-    ModelMarker, NameInSite, Pose, Rotation, Scale, WorkcellCollisionMarker, WorkcellVisualMarker,
+    Angle, AssetSource, Geometry, IsStatic, MeshPrimitive, Model, ModelMarker, NameInSite, Pose,
+    Rotation, Scale, WorkcellCollisionMarker, WorkcellVisualMarker,
 };
 
 // TODO(luca) reduce chances for panic and do proper error handling here
@@ -92,7 +92,6 @@ pub fn handle_new_sdf_roots(mut commands: Commands, new_sdfs: Query<(Entity, &Sd
                                 source: compute_model_source(&sdf.path, &mesh.uri),
                                 pose,
                                 is_static: IsStatic(sdf.model.r#static.unwrap_or(false)),
-                                constraints: ConstraintDependents::default(),
                                 scale: parse_scale(&mesh.scale),
                                 marker: ModelMarker,
                             })

rmf_site_format/Cargo.toml

@@ -14,7 +14,7 @@ serde_yaml = "0.8.23"
 serde_json = "*"
 ron = "0.7"
 thiserror = "*"
-glam = "0.22"
+glam = { version = "0.22", features = ["serde"] }
 # add features=["bevy"] to a dependent Cargo.toml to get the bevy-related features
 bevy = { version = "0.9", optional = true }
 urdf-rs = "0.7"

rmf_site_format/src/legacy/model.rs

@@ -1,6 +1,6 @@
 use crate::{
-    Angle, AssetSource, ConstraintDependents, IsStatic, Model as SiteModel, ModelMarker,
-    NameInSite, Pose, Rotation, Scale,
+    Angle, AssetSource, IsStatic, Model as SiteModel, ModelMarker, NameInSite, Pose, Rotation,
+    Scale,
 };
 use glam::DVec2;
 use serde::{Deserialize, Serialize};
@@ -33,7 +33,6 @@ impl Model {
                 rot: Rotation::Yaw(Angle::Deg(self.yaw.to_degrees() as f32)),
             },
             is_static: IsStatic(self.static_),
-            constraints: ConstraintDependents::default(),
             scale: Scale::default(),
             marker: ModelMarker,
         }

rmf_site_format/src/legacy/nav_graph.rs

@@ -172,13 +172,19 @@ impl NavVertexProperties {
             None => return props,
         };
         props.name = location.name.0.clone();
-        props.is_charger = location.tags.iter().find(|t| t.is_charger()).is_some();
+        props.is_charger = location.tags.0.iter().find(|t| t.is_charger()).is_some();
         props.is_holding_point = location
             .tags
+            .0
             .iter()
             .find(|t| t.is_holding_point())
             .is_some();
-        props.is_parking_spot = location.tags.iter().find(|t| t.is_parking_spot()).is_some();
+        props.is_parking_spot = location
+            .tags
+            .0
+            .iter()
+            .find(|t| t.is_parking_spot())
+            .is_some();
 
         props
     }

rmf_site_format/src/legacy/vertex.rs

@@ -1,7 +1,7 @@
 use super::rbmf::*;
 use crate::{
-    is_default, AssetSource, AssociatedGraphs, ConstraintDependents, IsStatic, Location,
-    LocationTag, LocationTags, Model, ModelMarker, NameInSite, Pose, Scale,
+    is_default, AssetSource, AssociatedGraphs, IsStatic, Location, LocationTag, LocationTags,
+    Model, ModelMarker, NameInSite, Pose, Scale,
 };
 use glam::DVec2;
 use serde::{Deserialize, Serialize};
@@ -63,7 +63,6 @@ impl Vertex {
                 source: AssetSource::Search(me.spawn_robot_type.1.clone()),
                 pose: Pose::default(),
                 is_static: IsStatic(false),
-                constraints: ConstraintDependents::default(),
                 scale: Scale::default(),
                 marker: ModelMarker,
             }))

rmf_site_format/src/misc.rs

@@ -125,8 +125,8 @@ impl RectFace {
     }
 }
 
-#[derive(Serialize, Deserialize, Deref, DerefMut, PartialEq, Clone, Debug)]
-#[cfg_attr(feature = "bevy", derive(Component))]
+#[derive(Serialize, Deserialize, PartialEq, Clone, Debug)]
+#[cfg_attr(feature = "bevy", derive(Component, Deref, DerefMut))]
 pub struct Scale(pub Vec3);
 
 impl Default for Scale {

rmf_site_format/src/model.rs

@@ -32,10 +32,6 @@ pub struct Model {
     #[serde(default, skip_serializing_if = "is_default")]
     /// Whether this model should be able to move in simulation
     pub is_static: IsStatic,
-    #[serde(skip)]
-    /// List of mesh constraints that apply to this model
-    /// Skipped in serialization since the information is already contained in MeshConstraints
-    pub constraints: ConstraintDependents,
     /// Scale to be applied to the model
     #[serde(default, skip_serializing_if = "is_default")]
     pub scale: Scale,
@@ -55,7 +51,6 @@ impl Default for Model {
             source: AssetSource::default(),
             pose: Pose::default(),
             is_static: IsStatic(false),
-            constraints: ConstraintDependents::default(),
             scale: Scale::default(),
             marker: ModelMarker,
         }

rmf_site_format/src/workcell.rs

@@ -69,8 +69,8 @@ pub enum MeshElement {
 
 /// Attached to Model entities to keep track of constraints attached to them,
 /// for change detection and hierarchy propagation
-#[derive(Serialize, Deserialize, Debug, Default, Clone, PartialEq)]
-#[cfg_attr(feature = "bevy", derive(Component, Deref, DerefMut))]
+#[cfg(feature = "bevy")]
+#[derive(Component, Deref, DerefMut, Serialize, Deserialize, Debug, Default, Clone, PartialEq)]
 pub struct ConstraintDependents(pub HashSet<Entity>);
 
 #[derive(Serialize, Deserialize, Debug, Default, Clone)]