Introducing model descriptions and instances

rmf_site_editor/src/interaction/cursor.rs

@@ -22,7 +22,9 @@ use crate::{
 };
 use bevy::{ecs::system::SystemParam, prelude::*, window::PrimaryWindow};
 use bevy_mod_raycast::{deferred::RaycastMesh, deferred::RaycastSource, primitives::rays::Ray3d};
-use rmf_site_format::{FloorMarker, Model, ModelMarker, PrimitiveShape, WallMarker, WorkcellModel};
+use rmf_site_format::{
+    FloorMarker, Model, ModelInstance, ModelMarker, PrimitiveShape, WallMarker, WorkcellModel,
+};
 use std::collections::HashSet;
 
 /// A resource that keeps track of the unique entities that play a role in
@@ -124,6 +126,22 @@ impl Cursor {
         }
     }
 
+    pub fn set_model_instance_preview(
+        &mut self,
+        commands: &mut Commands,
+        model: Option<ModelInstance<Entity>>,
+    ) {
+        self.remove_preview(commands);
+        self.preview_model = if let Some(model) = model {
+            println!("Spawn model instance preview");
+            let e = commands.spawn(model).insert(Pending).id();
+            commands.entity(self.frame).push_children(&[e]);
+            Some(e)
+        } else {
+            None
+        }
+    }
+
     pub fn set_workcell_model_preview(
         &mut self,
         commands: &mut Commands,

rmf_site_editor/src/interaction/select_anchor.rs

@@ -27,7 +27,8 @@ use crate::{
 use bevy::{ecs::system::SystemParam, prelude::*};
 use rmf_site_format::{
     Door, Edge, Fiducial, Floor, FrameMarker, Lane, LiftProperties, Location, Measurement, Model,
-    NameInWorkcell, NameOfSite, Path, PixelsPerMeter, Point, Pose, Side, Wall, WorkcellModel,
+    ModelInstance, NameInWorkcell, NameOfSite, Path, PixelsPerMeter, Point, Pose, Side, Wall,
+    WorkcellModel,
 };
 use std::collections::HashSet;
 use std::sync::Arc;
@@ -1306,6 +1307,15 @@ impl SelectAnchorPointBuilder {
         }
     }
 
+    pub fn for_model_instance(self, model: ModelInstance<Entity>) -> SelectAnchor3D {
+        SelectAnchor3D {
+            bundle: PlaceableObject::ModelInstance(model),
+            parent: None,
+            target: self.for_element,
+            continuity: self.continuity,
+        }
+    }
+
     pub fn for_visual(self, model: WorkcellModel) -> SelectAnchor3D {
         SelectAnchor3D {
             bundle: PlaceableObject::VisualMesh(model),
@@ -1687,6 +1697,7 @@ impl SelectAnchor {
 #[derive(Clone)]
 enum PlaceableObject {
     Model(Model),
+    ModelInstance(ModelInstance<Entity>),
     Anchor,
     VisualMesh(WorkcellModel),
     CollisionMesh(WorkcellModel),
@@ -2157,6 +2168,12 @@ pub fn handle_select_anchor_3d_mode(
                     .cursor
                     .set_model_preview(&mut params.commands, Some(m.clone()));
             }
+            PlaceableObject::ModelInstance(ref m) => {
+                // Spawn the model as a child of the cursor
+                params
+                    .cursor
+                    .set_model_instance_preview(&mut params.commands, Some(m.clone()));
+            }
             PlaceableObject::VisualMesh(ref m) | PlaceableObject::CollisionMesh(ref m) => {
                 // Spawn the model as a child of the cursor
                 params
@@ -2220,6 +2237,26 @@ pub fn handle_select_anchor_3d_mode(
                             params.commands.spawn(model).id()
                         }
                     }
+                    PlaceableObject::ModelInstance(ref a) => {
+                        let mut model = a.clone();
+                        // If we are in workcell mode, add a "base link" frame to the model
+                        if matches!(**app_state, AppState::WorkcellEditor) {
+                            let child_id = params.commands.spawn(model).id();
+                            params
+                                .commands
+                                .spawn((
+                                    AnchorBundle::new(Anchor::Pose3D(pose))
+                                        .dependents(Dependents::single(child_id)),
+                                    FrameMarker,
+                                    NameInWorkcell("model_root".to_string()),
+                                ))
+                                .add_child(child_id)
+                                .id()
+                        } else {
+                            model.pose = pose;
+                            params.commands.spawn(model).id()
+                        }
+                    }
                     PlaceableObject::VisualMesh(ref a) => {
                         let mut model = a.clone();
                         model.pose = pose;

rmf_site_editor/src/site/deletion.rs

@@ -20,12 +20,14 @@ use crate::{
     log::Log,
     site::{
         Category, CurrentLevel, Dependents, LevelElevation, LevelProperties, NameInSite,
-        SiteUpdateSet,
+        RemoveModelInstance, SiteUpdateSet,
     },
     AppState, Issue,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
-use rmf_site_format::{ConstraintDependents, Edge, MeshConstraint, Path, Point};
+use rmf_site_format::{
+    Affiliation, ConstraintDependents, Edge, Group, MeshConstraint, ModelMarker, Path, Point,
+};
 use std::collections::HashSet;
 
 // TODO(MXG): Use this module to implement the deletion buffer. The role of the
@@ -82,6 +84,8 @@ struct DeletionParams<'w, 's> {
     edges: Query<'w, 's, &'static Edge<Entity>>,
     points: Query<'w, 's, &'static Point<Entity>>,
     paths: Query<'w, 's, &'static Path<Entity>>,
+    model_instances:
+        Query<'w, 's, &'static Affiliation<Entity>, (With<ModelMarker>, Without<Group>)>,
     parents: Query<'w, 's, &'static mut Parent>,
     dependents: Query<'w, 's, &'static mut Dependents>,
     constraint_dependents: Query<'w, 's, &'static mut ConstraintDependents>,
@@ -90,6 +94,7 @@ struct DeletionParams<'w, 's> {
     selection: Res<'w, Selection>,
     current_level: ResMut<'w, CurrentLevel>,
     levels: Query<'w, 's, Entity, With<LevelElevation>>,
+    remove_model_instance: EventWriter<'w, RemoveModelInstance>,
     select: EventWriter<'w, Select>,
     log: EventWriter<'w, Log>,
     issues: Query<'w, 's, (Entity, &'static mut Issue)>,
@@ -137,6 +142,16 @@ fn cautious_delete(element: Entity, params: &mut DeletionParams) {
         }
     }
 
+    if let Ok(_) = params.model_instances.get(element) {
+        params
+            .remove_model_instance
+            .send(RemoveModelInstance(element));
+        if **params.selection == Some(element) {
+            params.select.send(Select(None));
+        }
+        return;
+    }
+
     for descendent in &all_descendents {
         if let Ok(prevent) = params.preventions.get(*descendent) {
             if *descendent == element {

rmf_site_editor/src/site/group.rs

@@ -34,6 +34,10 @@ impl Members {
     pub fn iter(&self) -> impl Iterator<Item = &Entity> {
         self.0.iter()
     }
+
+    pub fn len(&self) -> usize {
+        self.0.len()
+    }
 }
 
 #[derive(Component, Clone, Copy)]

rmf_site_editor/src/site/level.rs

@@ -16,7 +16,7 @@
 */
 
 use crate::site::*;
-use crate::{interaction::CameraControls, CurrentWorkspace};
+use crate::CurrentWorkspace;
 use bevy::prelude::*;
 
 pub fn update_level_visibility(

rmf_site_editor/src/site/load.rs

@@ -210,11 +210,6 @@ fn generate_site_entities(
                     consider_id(*light_id);
                 }
 
-                for (model_id, model) in &level_data.models {
-                    level.spawn(model.clone()).insert(SiteID(*model_id));
-                    consider_id(*model_id);
-                }
-
                 for (physical_camera_id, physical_camera) in &level_data.physical_cameras {
                     level
                         .spawn(physical_camera.clone())
@@ -248,6 +243,42 @@ fn generate_site_entities(
         consider_id(*level_id);
     }
 
+    for (model_description_id, model_description) in &site_data.model_descriptions {
+        let model_description = commands
+            .spawn(model_description.clone())
+            .insert(SiteID(*model_description_id))
+            .set_parent(site_id)
+            .id();
+        id_to_entity.insert(*model_description_id, model_description);
+        consider_id(*model_description_id);
+    }
+
+    for (model_instance_id, model_instance) in &site_data.model_instances {
+        let model_instance = model_instance.convert(&id_to_entity).for_site(site_id)?;
+        let model_instance_entity = commands
+            .spawn(model_instance.clone())
+            .insert(SiteID(*model_instance_id))
+            .set_parent(site_id)
+            .id();
+        id_to_entity.insert(*model_instance_id, model_instance_entity);
+        consider_id(*model_instance_id);
+    }
+
+    for (scenario_id, scenario_bundle) in &site_data.scenarios {
+        let parent = match scenario_bundle.scenario.parent_scenario.0 {
+            Some(parent_id) => *id_to_entity.get(&parent_id).unwrap_or(&site_id),
+            None => site_id,
+        };
+        let scenario_bundle = scenario_bundle.convert(&id_to_entity).for_site(site_id)?;
+        let scenario_entity = commands
+            .spawn(scenario_bundle.clone())
+            .insert(SiteID(*scenario_id))
+            .set_parent(parent)
+            .id();
+        id_to_entity.insert(*scenario_id, scenario_entity);
+        consider_id(*scenario_id);
+    }
+
     for (lift_id, lift_data) in &site_data.lifts {
         let lift_entity = commands.spawn(SiteID(*lift_id)).set_parent(site_id).id();
 
@@ -396,7 +427,11 @@ pub fn load_site(
         }
 
         if cmd.focus {
-            change_current_site.send(ChangeCurrentSite { site, level: None });
+            change_current_site.send(ChangeCurrentSite {
+                site,
+                level: None,
+                scenario: None,
+            });
         }
     }
 }

rmf_site_editor/src/site/mod.rs

@@ -99,6 +99,9 @@ pub use sdf::*;
 pub mod save;
 pub use save::*;
 
+pub mod scenario;
+pub use scenario::*;
+
 pub mod sdf_exporter;
 pub use sdf_exporter::*;
 
@@ -116,9 +119,10 @@ pub use util::*;
 
 pub mod wall;
 pub use wall::*;
+use yaserde::ser::Config;
 
 use crate::recency::{RecencyRank, RecencyRankingPlugin};
-use crate::{clear_old_issues_on_new_validate_event, AppState, RegisterIssueType};
+use crate::{AppState, RegisterIssueType};
 pub use rmf_site_format::*;
 
 use bevy::{prelude::*, render::view::visibility::VisibilitySystems, transform::TransformSystem};
@@ -188,6 +192,7 @@ impl Plugin for SitePlugin {
         .init_resource::<FuelClient>()
         .init_resource::<SiteAssets>()
         .init_resource::<CurrentLevel>()
+        .init_resource::<CurrentScenario>()
         .init_resource::<PhysicalLightToggle>()
         .init_resource::<FuelCacheUpdateChannel>()
         .init_resource::<FuelCacheProgressChannel>()
@@ -205,6 +210,8 @@ impl Plugin for SitePlugin {
         .add_event::<LoadSite>()
         .add_event::<ImportNavGraphs>()
         .add_event::<ChangeCurrentSite>()
+        .add_event::<ChangeCurrentScenario>()
+        .add_event::<RemoveModelInstance>()
         .add_event::<SaveSite>()
         .add_event::<SaveNavGraphs>()
         .add_event::<ToggleLiftDoorAvailability>()
@@ -264,6 +271,11 @@ impl Plugin for SitePlugin {
             DrawingEditorPlugin,
             SiteVisualizerPlugin,
         ))
+        .add_plugins((
+            ChangePlugin::<ModelProperty<AssetSource>>::default(),
+            ChangePlugin::<ModelProperty<Scale>>::default(),
+            ChangePlugin::<ModelProperty<IsStatic>>::default(),
+        ))
         .add_issue_type(&DUPLICATED_DOOR_NAME_ISSUE_UUID, "Duplicate door name")
         .add_issue_type(&DUPLICATED_LIFT_NAME_ISSUE_UUID, "Duplicate lift name")
         .add_issue_type(
@@ -360,6 +372,9 @@ impl Plugin for SitePlugin {
                 add_location_visuals,
                 add_fiducial_visuals,
                 update_level_visibility,
+                update_scenario_properties,
+                remove_instances,
+                update_current_scenario,
                 update_changed_lane,
                 update_lane_for_moved_anchor,
             )
@@ -397,6 +412,9 @@ impl Plugin for SitePlugin {
                 update_measurement_for_moved_anchors,
                 handle_model_loaded_events,
                 update_model_scenes,
+                update_model_instances::<AssetSource>,
+                update_model_instances::<Scale>,
+                update_model_instances::<IsStatic>,
                 update_affiliations,
                 update_members_of_groups.after(update_affiliations),
                 update_model_scales,