Add fuel asset gallery

rmf_site_editor/Cargo.toml

@@ -47,7 +47,8 @@ tracing = "0.1.37"
 tracing-subscriber = "0.3.1"
 rfd = "0.11"
 urdf-rs = "0.7"
-sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "a5daef0"}
+sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "f86344f"}
+gz-fuel = { git = "https://github.com/luca-della-vedova/gz-fuel/", branch = "first_implementation" }
 pathdiff = "*"
 
 # only enable the 'dynamic' feature if we're not building for web or windows

rmf_site_editor/src/interaction/camera_controls.rs

@@ -49,6 +49,9 @@ pub const HOVERED_OUTLINE_LAYER: u8 = 4;
 /// The X-Ray layer is used to show visual cues that need to be rendered
 /// above anything that would be obstructing them.
 pub const XRAY_RENDER_LAYER: u8 = 5;
+/// The Model Preview layer is used by model previews to spawn and render
+/// models in the engine without having them being visible to general cameras
+pub const MODEL_PREVIEW_LAYER: u8 = 6;
 
 #[derive(Resource)]
 struct MouseLocation {

rmf_site_editor/src/interaction/mod.rs

@@ -57,6 +57,9 @@ pub use light::*;
 pub mod mode;
 pub use mode::*;
 
+pub mod model_preview;
+pub use model_preview::*;
+
 pub mod outline;
 pub use outline::*;
 
@@ -163,6 +166,7 @@ impl Plugin for InteractionPlugin {
             .add_plugin(CategoryVisibilityPlugin::<MeasurementMarker>::default())
             .add_plugin(CategoryVisibilityPlugin::<WallMarker>::default())
             .add_plugin(CameraControlsPlugin)
+            .add_plugin(ModelPreviewPlugin)
             .add_system_set(
                 SystemSet::on_update(InteractionState::Enable)
                     .with_system(make_lift_doormat_gizmo)

rmf_site_editor/src/interaction/model_preview.rs

@@ -0,0 +1,90 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::interaction::MODEL_PREVIEW_LAYER;
+use bevy::prelude::*;
+use bevy::render::render_resource::{
+    Extent3d, TextureDescriptor, TextureDimension, TextureFormat, TextureUsages,
+};
+use bevy::render::{camera::RenderTarget, primitives::Aabb, view::RenderLayers};
+use bevy_egui::{egui::TextureId, EguiContext};
+
+#[derive(Resource)]
+pub struct ModelPreviewCamera {
+    pub camera_entity: Entity,
+    pub egui_handle: TextureId,
+    pub model_entity: Entity,
+}
+
+pub struct ModelPreviewPlugin;
+
+impl FromWorld for ModelPreviewCamera {
+    fn from_world(world: &mut World) -> Self {
+        // camera
+        let image_size = Extent3d {
+            width: 320,
+            height: 240,
+            depth_or_array_layers: 1,
+        };
+        let mut preview_image = Image {
+            texture_descriptor: TextureDescriptor {
+                label: None,
+                size: image_size,
+                dimension: TextureDimension::D2,
+                format: TextureFormat::Bgra8UnormSrgb,
+                mip_level_count: 1,
+                sample_count: 1,
+                usage: TextureUsages::TEXTURE_BINDING
+                    | TextureUsages::COPY_DST
+                    | TextureUsages::RENDER_ATTACHMENT,
+            },
+            ..default()
+        };
+        preview_image.resize(image_size);
+        let mut images = world.get_resource_mut::<Assets<Image>>().unwrap();
+        let preview_image = images.add(preview_image);
+        let mut egui_context = world.get_resource_mut::<EguiContext>().unwrap();
+        // Attach the bevy image to the egui image
+        let egui_handle = egui_context.add_image(preview_image.clone());
+        let camera_entity = world
+            .spawn(Camera3dBundle {
+                transform: Transform::from_xyz(-2.0, 2.5, 5.0).looking_at(Vec3::ZERO, Vec3::Z),
+                camera: Camera {
+                    target: RenderTarget::Image(preview_image),
+                    ..default()
+                },
+                ..default()
+            })
+            .insert(RenderLayers::from_layers(&[MODEL_PREVIEW_LAYER]))
+            .id();
+        let model_entity = world
+            .spawn(RenderLayers::from_layers(&[MODEL_PREVIEW_LAYER]))
+            .id();
+
+        Self {
+            camera_entity,
+            egui_handle,
+            model_entity,
+        }
+    }
+}
+
+impl Plugin for ModelPreviewPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<ModelPreviewCamera>();
+    }
+}

rmf_site_editor/src/site/fuel_cache.rs

@@ -0,0 +1,108 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::site::{AssetSource, ModelMarker, ModelSceneRoot, TentativeModelFormat};
+use crate::site_asset_io::FUEL_API_KEY;
+use crate::widgets::AssetGalleryStatus;
+use bevy::prelude::*;
+use bevy::tasks::IoTaskPool;
+use crossbeam_channel::{Receiver, Sender};
+use gz_fuel::{FuelClient as GzFuelClient, FuelModel};
+
+#[derive(Resource, Clone, Default, Deref, DerefMut)]
+pub struct FuelClient(GzFuelClient);
+
+/// Event used to request an update to the fuel cache
+pub struct UpdateFuelCache;
+
+#[derive(Deref, DerefMut)]
+pub struct FuelCacheUpdated(Option<Vec<FuelModel>>);
+
+/// Event used to set the fuel API key from the UI. Will also trigger a reload for failed assets
+#[derive(Deref, DerefMut)]
+pub struct SetFuelApiKey(pub String);
+
+/// Using channels instead of events to allow usage in wasm since, unlike event writers, they can
+/// be cloned and moved into async functions therefore don't have lifetime issues
+#[derive(Debug, Resource)]
+pub struct UpdateFuelCacheChannels {
+    pub sender: Sender<FuelCacheUpdated>,
+    pub receiver: Receiver<FuelCacheUpdated>,
+}
+
+impl Default for UpdateFuelCacheChannels {
+    fn default() -> Self {
+        let (sender, receiver) = crossbeam_channel::unbounded();
+        Self { sender, receiver }
+    }
+}
+
+pub fn handle_update_fuel_cache_requests(
+    mut events: EventReader<UpdateFuelCache>,
+    mut gallery_status: ResMut<AssetGalleryStatus>,
+    fuel_client: Res<FuelClient>,
+    channels: Res<UpdateFuelCacheChannels>,
+) {
+    if events.iter().last().is_some() {
+        info!("Updating fuel cache, this might take a few minutes");
+        gallery_status.fetching_cache = true;
+        let mut fuel_client = fuel_client.clone();
+        let sender = channels.sender.clone();
+        IoTaskPool::get()
+            .spawn(async move {
+                // Only write to cache in non wasm, no file system in web
+                #[cfg(target_arch = "wasm32")]
+                let write_to_disk = false;
+                #[cfg(not(target_arch = "wasm32"))]
+                let write_to_disk = true;
+                // Send client if update was successful
+                let res = fuel_client.update_cache(write_to_disk).await;
+                sender
+                    .send(FuelCacheUpdated(res))
+                    .expect("Failed sending fuel cache update event");
+            })
+            .detach();
+    }
+}
+
+pub fn read_update_fuel_cache_results(
+    channels: Res<UpdateFuelCacheChannels>,
+    mut fuel_client: ResMut<FuelClient>,
+    mut gallery_status: ResMut<AssetGalleryStatus>,
+) {
+    if let Ok(result) = channels.receiver.try_recv() {
+        match result.0 {
+            Some(models) => fuel_client.models = Some(models),
+            None => error!("Failed updating fuel cache"),
+        }
+        gallery_status.fetching_cache = false;
+    }
+}
+
+pub fn reload_failed_models_with_new_api_key(
+    mut commands: Commands,
+    mut api_key_events: EventReader<SetFuelApiKey>,
+    failed_models: Query<Entity, (With<ModelMarker>, Without<ModelSceneRoot>)>,
+) {
+    if let Some(key) = api_key_events.iter().last() {
+        info!("New API Key set, attempting to re-download failed models");
+        *FUEL_API_KEY.lock().unwrap() = Some((**key).clone());
+        for e in &failed_models {
+            commands.entity(e).insert(TentativeModelFormat::default());
+        }
+    }
+}

rmf_site_editor/src/site/mod.rs

@@ -48,6 +48,9 @@ pub use fiducial::*;
 pub mod floor;
 pub use floor::*;
 
+pub mod fuel_cache;
+pub use fuel_cache::*;
+
 pub mod group;
 pub use group::*;
 
@@ -154,9 +157,11 @@ impl Plugin for SitePlugin {
             .add_state_to_stage(SiteUpdateStage::AssignOrphans, SiteState::Off)
             .add_state_to_stage(CoreStage::PostUpdate, SiteState::Off)
             .insert_resource(ClearColor(Color::rgb(0., 0., 0.)))
+            .init_resource::<FuelClient>()
             .init_resource::<SiteAssets>()
             .init_resource::<CurrentLevel>()
             .init_resource::<PhysicalLightToggle>()
+            .init_resource::<UpdateFuelCacheChannels>()
             .init_resource::<ModelTrashcan>()
             .add_event::<LoadSite>()
             .add_event::<ImportNavGraphs>()
@@ -167,6 +172,8 @@ impl Plugin for SitePlugin {
             .add_event::<ExportLights>()
             .add_event::<ConsiderAssociatedGraph>()
             .add_event::<ConsiderLocationTag>()
+            .add_event::<UpdateFuelCache>()
+            .add_event::<SetFuelApiKey>()
             .add_event::<MergeGroups>()
             .add_plugin(ChangePlugin::<AssociatedGraphs<Entity>>::default())
             .add_plugin(RecallPlugin::<RecallAssociatedGraphs<Entity>>::default())
@@ -308,6 +315,7 @@ impl Plugin for SitePlugin {
                     .with_system(add_measurement_visuals)
                     .with_system(update_changed_measurement)
                     .with_system(update_measurement_for_moved_anchors)
+                    .with_system(handle_model_loaded_events)
                     .with_system(update_constraint_for_moved_anchors)
                     .with_system(update_constraint_for_changed_labels)
                     .with_system(update_changed_constraint)
@@ -317,12 +325,16 @@ impl Plugin for SitePlugin {
                     .with_system(handle_new_sdf_roots)
                     .with_system(update_model_scales)
                     .with_system(make_models_selectable)
+                    .with_system(propagate_model_render_layers)
                     .with_system(handle_new_mesh_primitives)
                     .with_system(add_drawing_visuals)
                     .with_system(handle_loaded_drawing)
                     .with_system(update_drawing_rank)
                     .with_system(add_physical_camera_visuals)
                     .with_system(add_wall_visual)
+                    .with_system(handle_update_fuel_cache_requests)
+                    .with_system(read_update_fuel_cache_results)
+                    .with_system(reload_failed_models_with_new_api_key)
                     .with_system(update_walls_for_moved_anchors)
                     .with_system(update_walls)
                     .with_system(update_transforms_for_changed_poses)