Fix style

Signed-off-by: Michael X. Grey <[email protected]>
open-rmf · Jul 24, 2023 · a8a25f7 · a8a25f7
1 parent b9a2897
commit a8a25f7
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Showing 11 changed files with 115 additions and 132 deletions.
diff --git a/rmf_site_editor/src/site/load.rs b/rmf_site_editor/src/site/load.rs
@@ -226,7 +226,6 @@ fn generate_site_entities(commands: &mut Commands, site_data: &rmf_site_format::
                     .id();
                 id_to_entity.insert(*location_id, location);
                 consider_id(*location_id);
-
             }
 
             for (robot_id, robot) in &site_data.models.mobile_robots {

diff --git a/rmf_site_editor/src/site/models.rs b/rmf_site_editor/src/site/models.rs
@@ -15,11 +15,11 @@
  *
 */
 
-use rmf_site_format::{AssetSource, Scale};
 use bevy::{
-    prelude::*,
     ecs::system::{Command, EntityCommands},
+    prelude::*,
 };
+use rmf_site_format::{AssetSource, Scale};
 
 #[derive(Component, Clone, Copy)]
 pub struct InScenario(pub Entity);
@@ -35,7 +35,7 @@ impl ModelSource {
 #[derive(Component, Clone)]
 pub struct ModelInstances(Vec<Entity>);
 impl ModelInstances {
-    pub fn iter(&self) -> impl Iterator<Item=&Entity> {
+    pub fn iter(&self) -> impl Iterator<Item = &Entity> {
         self.0.iter()
     }
 }
@@ -78,14 +78,12 @@ impl Command for ChangeModelSource {
             error!(
                 "Cannot change model source of instance {:?} to {:?} because \
                 that source no longer exists",
-                self.instance,
-                self.source,
+                self.instance, self.source,
             );
 
-            if let (Some(mut e), Some(prev)) = (
-                world.get_entity_mut(self.instance),
-                previous_source
-            ) {
+            if let (Some(mut e), Some(prev)) =
+                (world.get_entity_mut(self.instance), previous_source)
+            {
                 e.insert(ModelSource(prev));
             }
             return;
@@ -127,26 +125,21 @@ fn handle_changed_model_sources(
     for change in changed_instances.iter() {
         let Some(mut instance) = commands.get_entity(change.source) else { continue };
         let Ok((source, scale)) = sources.get(change.source) else { continue };
-        instance
-            .insert(source.clone())
-            .insert(scale.clone());
+        instance.insert(source.clone()).insert(scale.clone());
     }
 
     for (instances, source, scale) in &changed_sources {
         for instance in instances.iter() {
             let Some(mut instance) = commands.get_entity(*instance) else { continue };
-            instance
-                .insert(source.clone())
-                .insert(scale.clone());
+            instance.insert(source.clone()).insert(scale.clone());
         }
     }
 }
 
 pub struct ModelSourcePlugin;
 impl Plugin for ModelSourcePlugin {
     fn build(&self, app: &mut App) {
-        app
-            .add_event::<ChangeModelSource>()
+        app.add_event::<ChangeModelSource>()
             .add_system(handle_changed_model_sources);
     }
 }
diff --git a/rmf_site_editor/src/site/save.rs b/rmf_site_editor/src/site/save.rs
@@ -860,24 +860,16 @@ fn generate_scenarios(
 ) -> Result<(BTreeMap<u32, Scenario>, Models), SiteGenerationError> {
     let models = {
         let mut state: SystemState<(
+            Query<(
+                &NameInSite,
+                &AssetSource,
+                &Scale,
+                &MobileRobotKinematics,
+                &SiteID,
+                &Parent,
+            )>,
             Query<
-                (
-                    &NameInSite,
-                    &AssetSource,
-                    &Scale,
-                    &MobileRobotKinematics,
-                    &SiteID,
-                    &Parent,
-                )
-            >,
-            Query<
-                (
-                    &NameInSite,
-                    &AssetSource,
-                    &Scale,
-                    &SiteID,
-                    &Parent,
-                ),
+                (&NameInSite, &AssetSource, &Scale, &SiteID, &Parent),
                 With<StationaryRobotMarker>,
             >,
         )> = SystemState::new(world);
@@ -889,49 +881,47 @@ fn generate_scenarios(
                 continue;
             }
 
-            models.mobile_robots.insert(site_id.0, MobileRobot {
-                model_name: model_name.clone(),
-                source: source.clone(),
-                scale: scale.clone(),
-                kinematics: kinematics.clone(),
-            });
+            models.mobile_robots.insert(
+                site_id.0,
+                MobileRobot {
+                    model_name: model_name.clone(),
+                    source: source.clone(),
+                    scale: scale.clone(),
+                    kinematics: kinematics.clone(),
+                },
+            );
         }
 
         for (model_name, source, scale, site_id, parent) in &q_stationary {
             if parent.get() != site {
                 continue;
             }
 
-            models.workcells.insert(site_id.0, StationaryRobot {
-                model_name: model_name.clone(),
-                source: source.clone(),
-                scale: scale.clone(),
-                marker: StationaryRobotMarker,
-            });
+            models.workcells.insert(
+                site_id.0,
+                StationaryRobot {
+                    model_name: model_name.clone(),
+                    source: source.clone(),
+                    scale: scale.clone(),
+                    marker: StationaryRobotMarker,
+                },
+            );
         }
 
         models
     };
 
     let scenarios = {
         let mut state: SystemState<(
-            Query<
-                (
-                    &ScenarioProperties,
-                    &SiteID,
-                    &Parent,
-                )
-            >,
-            Query<
-                (
-                    &NameInSite,
-                    &Pose,
-                    &Parent,
-                    &ModelSource,
-                    &InScenario,
-                    &SiteID,
-                )
-            >,
+            Query<(&ScenarioProperties, &SiteID, &Parent)>,
+            Query<(
+                &NameInSite,
+                &Pose,
+                &Parent,
+                &ModelSource,
+                &InScenario,
+                &SiteID,
+            )>,
             Query<&SiteID>,
         )> = SystemState::new(world);
 
@@ -943,10 +933,13 @@ fn generate_scenarios(
                 continue;
             }
 
-            scenarios.insert(site_id.0, Scenario {
-                properties: properties.clone(),
-                instances: BTreeMap::new(),
-            });
+            scenarios.insert(
+                site_id.0,
+                Scenario {
+                    properties: properties.clone(),
+                    instances: BTreeMap::new(),
+                },
+            );
         }
 
         for (name, pose, parent, model, in_scenario, site_id) in &q_instances {
@@ -984,14 +977,17 @@ fn generate_scenarios(
                 );
             }
 
-            scenario.instances.insert(site_id.0, Instance {
-                parent,
-                model,
-                bundle: InstanceBundle {
-                    name: name.clone(),
-                    pose: pose.clone()
+            scenario.instances.insert(
+                site_id.0,
+                Instance {
+                    parent,
+                    model,
+                    bundle: InstanceBundle {
+                        name: name.clone(),
+                        pose: pose.clone(),
+                    },
                 },
-            });
+            );
         }
 
         scenarios

diff --git a/rmf_site_editor/src/widgets/inspector/inspect_location.rs b/rmf_site_editor/src/widgets/inspector/inspect_location.rs
@@ -53,30 +53,28 @@ impl<'a, 'w1, 'w2, 's2> InspectLocationWidget<'a, 'w1, 'w2, 's2> {
 
     pub fn show(self, ui: &mut Ui) -> Option<LocationTags> {
         ui.label(RichText::new("Location Tags").size(18.0));
-        let changed_charger = InspectOptionString::new(
-            "Charger",
-            &self.tags.charger,
-            &self.recall.recall_charger,
-        ).multiline().default("").show(ui);
-        let changed_parking = InspectOptionString::new(
-            "Parking",
-            &self.tags.parking,
-            &self.recall.recall_parking,
-        ).multiline().default("").show(ui);
-        let changed_holding = InspectOptionString::new(
-            "Holding",
-            &self.tags.holding,
-            &self.recall.recall_holding,
-        ).multiline().default("").show(ui);
+        let changed_charger =
+            InspectOptionString::new("Charger", &self.tags.charger, &self.recall.recall_charger)
+                .multiline()
+                .default("")
+                .show(ui);
+        let changed_parking =
+            InspectOptionString::new("Parking", &self.tags.parking, &self.recall.recall_parking)
+                .multiline()
+                .default("")
+                .show(ui);
+        let changed_holding =
+            InspectOptionString::new("Holding", &self.tags.holding, &self.recall.recall_holding)
+                .multiline()
+                .default("")
+                .show(ui);
 
         if changed_charger.is_some() || changed_parking.is_some() || changed_holding.is_some() {
-            return Some(
-                LocationTags {
-                    charger: changed_charger.unwrap_or_else(|| self.tags.charger.clone()),
-                    parking: changed_parking.unwrap_or_else(|| self.tags.parking.clone()),
-                    holding: changed_holding.unwrap_or_else(|| self.tags.holding.clone()),
-                }
-            )
+            return Some(LocationTags {
+                charger: changed_charger.unwrap_or_else(|| self.tags.charger.clone()),
+                parking: changed_parking.unwrap_or_else(|| self.tags.parking.clone()),
+                holding: changed_holding.unwrap_or_else(|| self.tags.holding.clone()),
+            });
         }
 
         return None;

diff --git a/rmf_site_editor/src/widgets/mod.rs b/rmf_site_editor/src/widgets/mod.rs
@@ -23,9 +23,8 @@ use crate::{
     occupancy::CalculateGrid,
     recency::ChangeRank,
     site::{
-        AssociatedGraphs, Change, ConsiderAssociatedGraph, CurrentLevel,
-        Delete, ExportLights, FloorVisibility, PhysicalLightToggle, SaveNavGraphs, SiteState,
-        ToggleLiftDoorAvailability,
+        AssociatedGraphs, Change, ConsiderAssociatedGraph, CurrentLevel, Delete, ExportLights,
+        FloorVisibility, PhysicalLightToggle, SaveNavGraphs, SiteState, ToggleLiftDoorAvailability,
     },
     AppState, CreateNewWorkspace, CurrentWorkspace, LoadWorkspace, SaveWorkspace,
 };

diff --git a/rmf_site_format/src/legacy/building_map.rs b/rmf_site_format/src/legacy/building_map.rs
@@ -2,11 +2,11 @@ use super::{level::Level, lift::Lift, PortingError, Result};
 use crate::{
     legacy::optimization::align_building, Anchor, Angle, AssetSource, AssociatedGraphs,
     DisplayColor, Dock as SiteDock, Drawing as SiteDrawing, DrawingMarker,
-    Fiducial as SiteFiducial, FiducialMarker, Guided, Label, Lane as SiteLane, LaneMarker,
-    Level as SiteLevel, LevelProperties as SiteLevelProperties, Motion, NameInSite, NavGraph,
-    Navigation, OrientationConstraint, PixelsPerMeter, Pose, RankingsInLevel, ReverseLane,
-    Rotation, Site, SiteProperties, DEFAULT_NAV_GRAPH_COLORS, Models, Instance,
-    Scenario, ScenarioProperties,
+    Fiducial as SiteFiducial, FiducialMarker, Guided, Instance, Label, Lane as SiteLane,
+    LaneMarker, Level as SiteLevel, LevelProperties as SiteLevelProperties, Models, Motion,
+    NameInSite, NavGraph, Navigation, OrientationConstraint, PixelsPerMeter, Pose, RankingsInLevel,
+    ReverseLane, Rotation, Scenario, ScenarioProperties, Site, SiteProperties,
+    DEFAULT_NAV_GRAPH_COLORS,
 };
 use glam::{DAffine2, DMat3, DQuat, DVec2, DVec3, EulerRot};
 use serde::{Deserialize, Serialize};
@@ -173,12 +173,9 @@ impl BuildingMap {
                     locations.insert(site_id.next().unwrap(), location);
                 }
 
-                if let Some(instance) = v.make_instance(
-                    &mut site_id,
-                    &mut model_source_map,
-                    &mut models,
-                    anchor_id,
-                ) {
+                if let Some(instance) =
+                    v.make_instance(&mut site_id, &mut model_source_map, &mut models, anchor_id)
+                {
                     let instance_id = site_id.next().unwrap();
                     instances.insert(instance_id, instance);
                 }
@@ -394,9 +391,11 @@ impl BuildingMap {
         scenarios.insert(
             default_scenario_id,
             Scenario {
-                properties: ScenarioProperties { name: "Default Scenario".to_owned() },
+                properties: ScenarioProperties {
+                    name: "Default Scenario".to_owned(),
+                },
                 instances,
-            }
+            },
         );
 
         Ok(Site {

diff --git a/rmf_site_format/src/legacy/vertex.rs b/rmf_site_format/src/legacy/vertex.rs
@@ -1,9 +1,8 @@
 use super::rbmf::*;
 use crate::{
-    is_default, AssetSource, AssociatedGraphs, ConstraintDependents, IsStatic,
-    Location, LocationTags, Model, ModelMarker, NameInSite, Pose, Scale,
-    Instance, InstanceBundle, Models, MobileRobot, MobileRobotKinematics,
-    DifferentialDrive,
+    is_default, AssetSource, AssociatedGraphs, ConstraintDependents, DifferentialDrive, Instance,
+    InstanceBundle, IsStatic, Location, LocationTags, MobileRobot, MobileRobotKinematics, Model,
+    ModelMarker, Models, NameInSite, Pose, Scale,
 };
 use glam::DVec2;
 use serde::{Deserialize, Serialize};
@@ -94,7 +93,7 @@ impl Vertex {
                     bundle: InstanceBundle {
                         name: NameInSite(me.spawn_robot_name.1.clone()),
                         pose: Pose::default(),
-                    }
+                    },
                 });
             }
 
@@ -103,15 +102,15 @@ impl Vertex {
             let model_id = new_site_id.next().unwrap();
             let mobile_robot = MobileRobot {
                 model_name: NameInSite(me.spawn_robot_type.1.clone()),
-                source: AssetSource::Search("OpenRobotics/".to_owned() + &me.spawn_robot_type.1.clone()),
+                source: AssetSource::Search(
+                    "OpenRobotics/".to_owned() + &me.spawn_robot_type.1.clone(),
+                ),
                 scale: Scale::default(),
-                kinematics: MobileRobotKinematics::DifferentialDrive(
-                    DifferentialDrive {
-                        translational_speed: 0.5,
-                        rotational_speed: 0.6,
-                        bidirectional: false,
-                    }
-                )
+                kinematics: MobileRobotKinematics::DifferentialDrive(DifferentialDrive {
+                    translational_speed: 0.5,
+                    rotational_speed: 0.6,
+                    bidirectional: false,
+                }),
             };
 
             models.mobile_robots.insert(model_id, mobile_robot);
@@ -122,7 +121,7 @@ impl Vertex {
                 bundle: InstanceBundle {
                     name: NameInSite(me.spawn_robot_name.1.clone()),
                     pose: Pose::default(),
-                }
+                },
             });
         }