Use workflows for model spawning

rmf_site_editor/src/interaction/cursor.rs

@@ -18,12 +18,12 @@
 use crate::{
     animate::*,
     interaction::*,
-    site::{AnchorBundle, Pending, SiteAssets, Trashcan},
+    site::{AnchorBundle, ModelSpawningExt, Pending, SiteAssets},
 };
 use bevy::{ecs::system::SystemParam, prelude::*, window::PrimaryWindow};
 use bevy_mod_raycast::primitives::{rays::Ray3d, Primitive3d};
 
-use rmf_site_format::{FloorMarker, Model, WallMarker, WorkcellModel};
+use rmf_site_format::{FloorMarker, Model, WallMarker};
 use std::collections::HashSet;
 
 /// A resource that keeps track of the unique entities that play a role in
@@ -37,7 +37,6 @@ pub struct Cursor {
     pub level_anchor_placement: Entity,
     pub site_anchor_placement: Entity,
     pub frame_placement: Entity,
-    pub trashcan: Entity,
     pub preview_model: Option<Entity>,
     dependents: HashSet<Entity>,
     /// Use a &str to label each mode that might want to turn the cursor on
@@ -116,37 +115,17 @@ impl Cursor {
     }
 
     pub fn remove_preview(&mut self, commands: &mut Commands) {
-        if let Some(current_preview) = self.preview_model {
-            commands.get_entity(current_preview).map(|mut e_mut| {
-                e_mut.set_parent(self.trashcan);
-            });
-            self.preview_model = None;
+        if let Some(current_preview) = self.preview_model.take() {
+            commands.entity(current_preview).despawn_recursive();
         }
     }
 
-    // TODO(luca) reduce duplication here
     pub fn set_model_preview(&mut self, commands: &mut Commands, model: Option<Model>) {
         self.remove_preview(commands);
         self.preview_model = if let Some(model) = model {
-            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,
-        model: Option<WorkcellModel>,
-    ) {
-        self.remove_preview(commands);
-        self.preview_model = if let Some(model) = model {
-            let mut cmd = commands.spawn(Pending);
-            let e = cmd.id();
-            model.add_bevy_components(&mut cmd);
-            commands.entity(self.frame).push_children(&[e]);
+            let source = model.source.clone();
+            let e = commands.spawn((model, Pending)).set_parent(self.frame).id();
+            commands.spawn_model((e, source).into());
             Some(e)
         } else {
             None
@@ -261,16 +240,13 @@ impl FromWorld for Cursor {
             })
             .id();
 
-        let trashcan = world.spawn(Trashcan).id();
-
         Self {
             frame: cursor,
             halo,
             dagger,
             level_anchor_placement,
             site_anchor_placement,
             frame_placement,
-            trashcan,
             preview_model: None,
             dependents: Default::default(),
             modes: Default::default(),

rmf_site_editor/src/interaction/select/place_object_2d.rs

@@ -15,7 +15,10 @@
  *
 */
 
-use crate::{interaction::select::*, site::Model};
+use crate::{
+    interaction::select::*,
+    site::{Model, ModelSpawningExt},
+};
 use bevy::prelude::Input as UserInput;
 
 pub const PLACE_OBJECT_2D_MODE_LABEL: &'static str = "place_object_2d";
@@ -201,7 +204,12 @@ pub fn on_placement_chosen_2d(
     let mut state = access.pull().or_broken_state()?;
 
     state.object.pose = placement.into();
-    commands.spawn(state.object).set_parent(state.level);
+    let source = state.object.source.clone();
+    let id = commands
+        .spawn((Category::Model, state.object))
+        .set_parent(state.level)
+        .id();
+    commands.spawn_model((id, source).into());
 
     Ok(())
 }

rmf_site_editor/src/interaction/select/place_object_3d.rs

@@ -18,12 +18,16 @@
 use crate::{
     interaction::select::*,
     site::{
-        Anchor, AnchorBundle, Dependents, FrameMarker, Model, NameInSite, NameInWorkcell, Pending,
-        SiteID, WorkcellModel,
+        Anchor, AnchorBundle, Dependents, FrameMarker, Model, ModelLoadingRequest,
+        ModelSpawningExt, NameInWorkcell, Pending, SiteID,
     },
     widgets::canvas_tooltips::CanvasTooltips,
+    workcell::flatten_loaded_model_hierarchy,
+};
+use bevy::{
+    ecs::system::{EntityCommands, SystemParam},
+    prelude::Input as UserInput,
 };
-use bevy::{ecs::system::SystemParam, prelude::Input as UserInput};
 use bevy_mod_raycast::deferred::RaycastSource;
 use std::borrow::Cow;
 
@@ -150,8 +154,8 @@ pub struct PlaceObject3d {
 pub enum PlaceableObject {
     Model(Model),
     Anchor,
-    VisualMesh(WorkcellModel),
-    CollisionMesh(WorkcellModel),
+    VisualMesh(Model),
+    CollisionMesh(Model),
 }
 
 pub fn place_object_3d_setup(
@@ -174,18 +178,14 @@ pub fn place_object_3d_setup(
             set_visibility(cursor.dagger, &mut visibility, true);
             set_visibility(cursor.halo, &mut visibility, true);
         }
-        PlaceableObject::Model(m) => {
+        PlaceableObject::Model(m)
+        | PlaceableObject::VisualMesh(m)
+        | PlaceableObject::CollisionMesh(m) => {
             // Spawn the model as a child of the cursor
             cursor.set_model_preview(&mut commands, Some(m.clone()));
             set_visibility(cursor.dagger, &mut visibility, false);
             set_visibility(cursor.halo, &mut visibility, false);
         }
-        PlaceableObject::VisualMesh(m) | PlaceableObject::CollisionMesh(m) => {
-            // Spawn the model as a child of the cursor
-            cursor.set_workcell_model_preview(&mut commands, Some(m.clone()));
-            set_visibility(cursor.dagger, &mut visibility, false);
-            set_visibility(cursor.halo, &mut visibility, false);
-        }
     }
 
     if let Some(parent) = state.parent {
@@ -238,7 +238,7 @@ pub fn place_object_3d_find_placement(
     hovering: Res<Hovering>,
     mouse_button_input: Res<UserInput<MouseButton>>,
     blockers: Option<Res<PickingBlockers>>,
-    meta: Query<(Option<&'static NameInSite>, Option<&'static SiteID>)>,
+    meta: Query<(Option<&'static NameInWorkcell>, Option<&'static SiteID>)>,
     mut filter: PlaceObject3dFilter,
 ) {
     let Some(mut orders) = orders.get_mut(&srv_key) else {
@@ -458,6 +458,10 @@ pub fn on_placement_chosen_3d(
     let placement_tf = placement.compute_affine();
     let pose = Transform::from_matrix((inv_tf * placement_tf).into()).into();
 
+    let flatten_models = flatten_loaded_model_hierarchy.into_blocking_callback();
+    let add_model_components = |object: Model, mut cmd: EntityCommands| {
+        cmd.insert((NameInWorkcell(object.name.0), object.pose, object.scale));
+    };
     let id = match state.object {
         PlaceableObject::Anchor => commands
             .spawn((
@@ -467,7 +471,11 @@ pub fn on_placement_chosen_3d(
             ))
             .id(),
         PlaceableObject::Model(object) => {
-            let model_id = commands.spawn((object, VisualCue::outline())).id();
+            let model_id = commands.spawn(VisualCue::outline()).id();
+            let source = object.source.clone();
+            add_model_components(object, commands.entity(model_id));
+            let req = ModelLoadingRequest::new(model_id, source).then(flatten_models);
+            commands.spawn_model(req);
             // Create a parent anchor to contain the new model in
             commands
                 .spawn((
@@ -480,16 +488,24 @@ pub fn on_placement_chosen_3d(
                 .id()
         }
         PlaceableObject::VisualMesh(mut object) => {
+            let id = commands.spawn((VisualMeshMarker, Category::Visual)).id();
             object.pose = pose;
-            let mut cmd = commands.spawn(VisualMeshMarker);
-            object.add_bevy_components(&mut cmd);
-            cmd.id()
+            let source = object.source.clone();
+            add_model_components(object, commands.entity(id));
+            let req = ModelLoadingRequest::new(id, source).then(flatten_models);
+            commands.spawn_model(req);
+            id
         }
         PlaceableObject::CollisionMesh(mut object) => {
+            let id = commands
+                .spawn((CollisionMeshMarker, Category::Collision))
+                .id();
             object.pose = pose;
-            let mut cmd = commands.spawn(CollisionMeshMarker);
-            object.add_bevy_components(&mut cmd);
-            cmd.id()
+            let source = object.source.clone();
+            add_model_components(object, commands.entity(id));
+            let req = ModelLoadingRequest::new(id, source).then(flatten_models);
+            commands.spawn_model(req);
+            id
         }
     };
 

rmf_site_editor/src/sdf_loader.rs

@@ -56,7 +56,7 @@ impl AssetLoader for SdfLoader {
             let mut bytes = Vec::new();
             // TODO(luca) remove unwrap
             reader.read_to_end(&mut bytes).await.unwrap();
-            Ok(load_model(bytes, load_context).await?)
+            Ok(load_model(bytes, load_context)?)
         })
     }
 
@@ -131,8 +131,12 @@ fn compute_model_source<'a, 'b>(
         Ok(asset_source)
     } else {
         // It's a path relative to this model, concatenate it to the current context path.
+        // Note that since the current path is the file (i.e. path/subfolder/model.sdf) we need to
+        // concatenate to its parent
         let path = load_context
             .asset_path()
+            .parent()
+            .unwrap()
             .resolve(subasset_uri)
             .or_else(|e| Err(SdfError::UnsupportedAssetSource(e.to_string())))?;
         AssetSource::try_from(path.to_string().as_str()).map_err(SdfError::UnsupportedAssetSource)
@@ -239,7 +243,7 @@ fn spawn_geometry<'a, 'b>(
     Ok(geometry)
 }
 
-async fn load_model<'a, 'b>(
+fn load_model<'a, 'b>(
     bytes: Vec<u8>,
     load_context: &'a mut LoadContext<'b>,
 ) -> Result<bevy::scene::Scene, SdfError> {

rmf_site_editor/src/site/fuel_cache.rs

@@ -15,7 +15,7 @@
  *
 */
 
-use crate::site::{ModelMarker, ModelSceneRoot, TentativeModelFormat};
+use crate::site::{AssetSource, ModelScene, ModelSpawningExt};
 use crate::site_asset_io::FUEL_API_KEY;
 use crate::widgets::AssetGalleryStatus;
 use bevy::prelude::*;
@@ -127,7 +127,7 @@ pub fn read_update_fuel_cache_results(
 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>)>,
+    failed_models: Query<(Entity, &AssetSource), Without<ModelScene>>,
 ) {
     if let Some(key) = api_key_events.read().last() {
         info!("New API Key set, attempting to re-download failed models");
@@ -136,8 +136,8 @@ pub fn reload_failed_models_with_new_api_key(
             Err(poisoned) => poisoned.into_inner(),
         };
         *key_guard = Some((**key).clone());
-        for e in &failed_models {
-            commands.entity(e).insert(TentativeModelFormat::default());
+        for (e, source) in &failed_models {
+            commands.spawn_model((e, source.clone()).into());
         }
     }
 }

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())
@@ -230,6 +225,16 @@ fn generate_site_entities(
                 }
             });
 
+        for (model_id, model) in &level_data.models {
+            let source = model.source.clone();
+            let model_entity = commands
+                .spawn((Category::Model, model.clone(), SiteID(*model_id)))
+                .set_parent(level_entity)
+                .id();
+            commands.spawn_model((model_entity, source).into());
+            consider_id(*model_id);
+        }
+
         // TODO(MXG): Log when a RecencyRanking fails to load correctly.
         commands
             .entity(level_entity)

rmf_site_editor/src/site/mod.rs

@@ -191,7 +191,6 @@ impl Plugin for SitePlugin {
         .init_resource::<PhysicalLightToggle>()
         .init_resource::<FuelCacheUpdateChannel>()
         .init_resource::<FuelCacheProgressChannel>()
-        .init_resource::<ModelTrashcan>()
         .register_type::<NameInSite>()
         .register_type::<AssetSource>()
         .register_type::<Pose>()
@@ -263,6 +262,7 @@ impl Plugin for SitePlugin {
             DeletionPlugin,
             DrawingEditorPlugin,
             SiteVisualizerPlugin,
+            ModelLoadingPlugin::default(),
         ))
         .add_issue_type(&DUPLICATED_DOOR_NAME_ISSUE_UUID, "Duplicate door name")
         .add_issue_type(&DUPLICATED_LIFT_NAME_ISSUE_UUID, "Duplicate lift name")
@@ -278,7 +278,6 @@ impl Plugin for SitePlugin {
             (
                 update_lift_cabin,
                 update_lift_edge,
-                update_model_tentative_formats,
                 update_drawing_pixels_per_meter,
                 update_drawing_children_to_pixel_coordinates,
                 check_for_duplicated_door_names,
@@ -320,7 +319,6 @@ impl Plugin for SitePlugin {
                 add_category_to_graphs,
                 add_tags_to_lift,
                 add_material_for_display_colors,
-                clear_model_trashcan,
                 add_physical_lights,
             )
                 .run_if(AppState::in_site_mode())
@@ -392,22 +390,9 @@ impl Plugin for SitePlugin {
         .add_systems(
             PostUpdate,
             (
-                (
-                    propagate_model_properties,
-                    make_models_selectable,
-                    // Counter-intuitively, we want to expand the model scenes
-                    // after propagating the model properties through the scene.
-                    // The reason is that the entities for the scene won't be
-                    // available until the next cycle is finished, so we want to
-                    // wait until the next cycle before propagating the properties
-                    // of any newly added scenes.
-                    handle_model_loaded_events,
-                )
-                    .chain(),
                 add_measurement_visuals,
                 update_changed_measurement,
                 update_measurement_for_moved_anchors,
-                update_model_scenes,
                 update_affiliations,
                 update_members_of_groups.after(update_affiliations),
                 update_model_scales,