Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Use site ID to ensure unique file names #219

Merged
merged 4 commits into from
Jun 14, 2024
Merged

Use site ID to ensure unique file names #219

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
42ccb84
Use site ID to ensure unique file names
mxgrey Jun 3, 2024
0a55442
Fix style
mxgrey Jun 3, 2024
ced1f31
Merge branch 'luca/headless_sdf_export_poc' into grey/sdf_site_id
luca-della-vedova Jun 14, 2024
2872ab8
Fix door names for toggle floors plugin
luca-della-vedova Jun 14, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
21 changes: 13 additions & 8 deletions rmf_site_editor/src/site/save.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1278,6 +1278,19 @@ pub fn save_site(world: &mut World) {
}
ExportFormat::Sdf => {
// TODO(luca) reduce code duplication with default exporting

// Make sure to generate the site before anything else, because
// generating the site will ensure that all items are assigned a
// SiteID, and the SDF export process will not work correctly if
// any are unassigned.
let site = match generate_site(world, save_event.site) {
Ok(site) => site,
Err(err) => {
error!("Unable to compile site: {err}");
continue;
}
};

info!("Saving to {}", new_path.display());
let Some(parent_folder) = new_path.parent() else {
error!("Unable to save SDF. Please select a save path that has a parent directory.");
Expand Down Expand Up @@ -1309,14 +1322,6 @@ pub fn save_site(world: &mut World) {
}

migrate_relative_paths(save_event.site, &new_path, world);

let site = match generate_site(world, save_event.site) {
Ok(site) => site,
Err(err) => {
error!("Unable to compile site: {err}");
continue;
}
};
let graphs = legacy::nav_graph::NavGraph::from_site(&site);
let sdf = match site.to_sdf() {
Ok(sdf) => sdf,
Expand Down
80 changes: 61 additions & 19 deletions rmf_site_editor/src/site/sdf_exporter.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,10 @@ pub fn headless_sdf_export(
return;
}
if sites.is_empty() {
warn!("Site loading failed, aborting");
warn!(
"Unable to load site from file [{}] so we cannot export an SDF from it",
export_state.target_path,
);
exit.send(bevy::app::AppExit);
}
if !missing_models.is_empty() {
Expand Down Expand Up @@ -128,6 +131,13 @@ pub fn collect_site_meshes(world: &mut World, site: Entity, folder: &Path) -> Re
std::fs::write(filename, bytes).map_err(|e| e.to_string())
};

let get_site_id = |e: Entity| -> Result<u32, String> {
q_site_ids.get(e).map(|id| id.0).map_err(|_| {
let backtrace = std::backtrace::Backtrace::force_capture();
format!("Site ID was not available for entity {e:?}. Backtrace:\n{backtrace}")
})
};

let get_mesh_and_material = |entity: Entity| -> Option<(&Mesh, &StandardMaterial)> {
let Ok((mesh, material)) = q_pbr.get(entity) else {
return None;
Expand Down Expand Up @@ -241,14 +251,22 @@ pub fn collect_site_meshes(world: &mut World, site: Entity, folder: &Path) -> Re
visual_data.extend(model_visuals);
} else {
// Create a new mesh for it
let filename = format!("{}/{}_collision.glb", folder.display(), **name);
let filename = format!(
"{}/model_{}_collision.glb",
folder.display(),
get_site_id(*child)?,
);
write_meshes_to_file(
model_collisions,
None,
CompressGltfOptions::skip_materials(),
filename,
)?;
let filename = format!("{}/{}_visual.glb", folder.display(), **name);
let filename = format!(
"{}/model_{}_visual.glb",
folder.display(),
get_site_id(*child)?,
);
write_meshes_to_file(
model_visuals,
Some(format!("{}_visual", **name)),
Expand All @@ -270,20 +288,22 @@ pub fn collect_site_meshes(world: &mut World, site: Entity, folder: &Path) -> Re
let Ok(tf) = q_tfs.get(*entity) else {
continue;
};
let Some(door_name) = door_name else {
continue;
};

let data = MeshData {
mesh,
material: Some(material),
transform: Some(tf.clone()),
};
let filename =
format!("{}/{}_{}.glb", folder.display(), **door_name, segment_name);
let filename = format!(
"{}/door_{}_{}.glb",
folder.display(),
get_site_id(*child)?,
segment_name,
);
let door_name = door_name.map(|n| n.0.as_str()).unwrap_or("");
write_meshes_to_file(
vec![data],
None,
Some(format!("door_{}_{}", door_name, segment_name)),
CompressGltfOptions::default(),
filename,
)?;
Expand All @@ -292,17 +312,25 @@ pub fn collect_site_meshes(world: &mut World, site: Entity, folder: &Path) -> Re
continue;
};
}
let filename = format!("{}/level_{}_collision.glb", folder.display(), **level_name);
let filename = format!(
"{}/level_{}_collision.glb",
folder.display(),
get_site_id(*site_child)?,
);
write_meshes_to_file(
collision_data,
None,
Some(format!("level_{}_collision", **level_name)),
CompressGltfOptions::skip_materials(),
filename,
)?;
let filename = format!("{}/level_{}_visual.glb", folder.display(), **level_name);
let filename = format!(
"{}/level_{}_visual.glb",
folder.display(),
get_site_id(*site_child)?,
);
write_meshes_to_file(
visual_data,
Some(format!("level_{}_visuals", **level_name)),
Some(format!("level_{}_visual", **level_name)),
CompressGltfOptions::default(),
filename,
)?;
Expand All @@ -327,8 +355,17 @@ pub fn collect_site_meshes(world: &mut World, site: Entity, folder: &Path) -> Re
transform: None,
});
}
let filename = format!("{}/{}.glb", folder.display(), **lift_name);
write_meshes_to_file(lift_data, None, CompressGltfOptions::default(), filename)?;
let filename = format!(
"{}/lift_{}.glb",
folder.display(),
get_site_id(*site_child)?
);
write_meshes_to_file(
lift_data,
Some(format!("lift_{}", **lift_name)),
CompressGltfOptions::default(),
filename,
)?;
// Now generate the lift doors
let LiftCabin::Rect(cabin) = cabin;
for (face, door) in cabin.doors().iter() {
Expand Down Expand Up @@ -357,15 +394,20 @@ pub fn collect_site_meshes(world: &mut World, site: Entity, folder: &Path) -> Re
transform: Some(tf.clone()),
};
let filename = format!(
"{}/{}_{}_{}.glb",
"{}/lift_{}_{}_{}.glb",
folder.display(),
**lift_name,
get_site_id(*site_child)?,
face.label(),
segment_name
segment_name,
);
write_meshes_to_file(
vec![data],
None,
Some(format!(
"lift_{}_{}_{}",
**lift_name,
face.label(),
segment_name
)),
CompressGltfOptions::default(),
filename,
)?;
Expand Down
2 changes: 2 additions & 0 deletions rmf_site_editor/src/workspace.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -299,6 +299,8 @@ pub fn dispatch_load_workspace_events(
.send(LoadWorkspaceFile(Some(path.clone()), data))
.expect("Failed sending load event");
}
} else {
warn!("Unable to read file [{path:?}] so it cannot be loaded");
}
}
LoadWorkspace::Data(data) => {
Expand Down
Loading
Loading