Introducing model descriptions and instances

rmf_site_editor/Cargo.toml

@@ -53,6 +53,7 @@ tera = "1.19.1"
 ehttp = { version = "0.4", features = ["native-async"] }
 nalgebra = "0.32.5"
 anyhow = "*"
+strum = "*"
 
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
 clap = { version = "4.0.10", features = ["color", "derive", "help", "usage", "suggestions"] }

rmf_site_editor/src/interaction/cursor.rs

@@ -23,7 +23,7 @@ use crate::{
 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, ModelInstance, WallMarker, WorkcellModel};
 use std::collections::HashSet;
 
 /// A resource that keeps track of the unique entities that play a role in
@@ -125,7 +125,11 @@ impl Cursor {
     }
 
     // TODO(luca) reduce duplication here
-    pub fn set_model_preview(&mut self, commands: &mut Commands, model: Option<Model>) {
+    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 {
             let e = commands.spawn(model).insert(Pending).id();

rmf_site_editor/src/interaction/mod.rs

@@ -55,6 +55,9 @@ pub use lift::*;
 pub mod light;
 pub use light::*;
 
+pub mod model;
+pub use model::*;
+
 pub mod model_preview;
 pub use model_preview::*;
 
@@ -197,6 +200,7 @@ impl Plugin for InteractionPlugin {
                 .add_systems(
                     Update,
                     (
+                        update_model_instance_visual_cues.after(SelectionServiceStages::Select),
                         update_lane_visual_cues.after(SelectionServiceStages::Select),
                         update_edge_visual_cues.after(SelectionServiceStages::Select),
                         update_point_visual_cues.after(SelectionServiceStages::Select),

rmf_site_editor/src/interaction/model.rs

@@ -0,0 +1,98 @@
+/*
+ * Copyright (C) 2024 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::*, site::*};
+use bevy::prelude::*;
+
+pub fn update_model_instance_visual_cues(
+    model_descriptions: Query<
+        (Entity, &Selected, &Hovered),
+        (
+            With<ModelMarker>,
+            With<Group>,
+            Or<(Changed<Hovered>, Changed<Selected>)>,
+        ),
+    >,
+    mut model_instances: Query<
+        (
+            Entity,
+            &mut Selected,
+            &mut Hovered,
+            &mut Affiliation<Entity>,
+            Option<Ref<Tasks<Entity>>>,
+        ),
+        (With<ModelMarker>, Without<Group>),
+    >,
+    mut locations: Query<&mut Selected, (With<LocationTags>, Without<ModelMarker>)>,
+    mut removed_components: RemovedComponents<Tasks<Entity>>,
+) {
+    for (instance_entity, mut instance_selected, mut instance_hovered, affiliation, tasks) in
+        &mut model_instances
+    {
+        let mut is_description_selected = false;
+        if let Some(description_entity) = affiliation.0 {
+            if let Ok((_, description_selected, description_hovered)) =
+                model_descriptions.get(description_entity)
+            {
+                if description_selected.cue() {
+                    instance_selected
+                        .support_selected
+                        .insert(description_entity);
+                    is_description_selected = true;
+                } else {
+                    instance_selected
+                        .support_selected
+                        .remove(&description_entity);
+                }
+                if description_hovered.cue() {
+                    instance_hovered.support_hovering.insert(description_entity);
+                } else {
+                    instance_hovered
+                        .support_hovering
+                        .remove(&description_entity);
+                }
+            }
+        }
+
+        // When an instance is selected, select all locations supporting it
+        if let Some(tasks) = tasks {
+            // When tasks for an instance have changed, reset all locations from supporting this instance
+            if tasks.is_changed() {
+                for mut location_selected in locations.iter_mut() {
+                    location_selected.support_selected.remove(&instance_entity);
+                }
+            }
+
+            if let Some(task_location) = tasks.0.first().and_then(|t| t.location()) {
+                if let Ok(mut location_selected) = locations.get_mut(task_location.0) {
+                    if instance_selected.cue() && !is_description_selected {
+                        location_selected.support_selected.insert(instance_entity);
+                    } else {
+                        location_selected.support_selected.remove(&instance_entity);
+                    }
+                }
+            }
+        }
+    }
+
+    // When instances are removed, prevent any location from supporting them
+    for removed in removed_components.read() {
+        for mut location_selected in locations.iter_mut() {
+            location_selected.support_selected.remove(&removed);
+        }
+    }
+}

rmf_site_editor/src/interaction/select/place_object.rs

@@ -15,7 +15,7 @@
  *
 */
 
-use crate::{interaction::select::*, site::Model};
+use crate::{interaction::select::*, site::ModelInstance};
 use bevy::ecs::system::SystemParam;
 
 #[derive(Default)]
@@ -62,7 +62,7 @@ pub struct ObjectPlacement<'w, 's> {
 }
 
 impl<'w, 's> ObjectPlacement<'w, 's> {
-    pub fn place_object_2d(&mut self, object: Model, level: Entity) {
+    pub fn place_object_2d(&mut self, object: ModelInstance<Entity>, level: Entity) {
         let state = self
             .commands
             .spawn(SelectorInput(PlaceObject2d { object, level }))

rmf_site_editor/src/interaction/select/place_object_2d.rs

@@ -15,7 +15,7 @@
  *
 */
 
-use crate::{interaction::select::*, site::Model};
+use crate::{interaction::select::*, site::ModelInstance};
 use bevy::prelude::Input as UserInput;
 
 pub const PLACE_OBJECT_2D_MODE_LABEL: &'static str = "place_object_2d";
@@ -101,7 +101,7 @@ pub fn build_place_object_2d_workflow(
 }
 
 pub struct PlaceObject2d {
-    pub object: Model,
+    pub object: ModelInstance<Entity>,
     pub level: Entity,
 }
 
@@ -117,7 +117,7 @@ pub fn place_object_2d_setup(
     let mut access = access.get_mut(&key).or_broken_buffer()?;
     let state = access.newest_mut().or_broken_buffer()?;
 
-    cursor.set_model_preview(&mut commands, Some(state.object.clone()));
+    cursor.set_model_instance_preview(&mut commands, Some(state.object.clone()));
     set_visibility(cursor.dagger, &mut visibility, false);
     set_visibility(cursor.halo, &mut visibility, false);
 

rmf_site_editor/src/interaction/select/place_object_3d.rs

@@ -18,8 +18,8 @@
 use crate::{
     interaction::select::*,
     site::{
-        Anchor, AnchorBundle, Dependents, FrameMarker, Model, NameInSite, NameInWorkcell, Pending,
-        SiteID, WorkcellModel,
+        Anchor, AnchorBundle, Dependents, FrameMarker, ModelInstance, NameInSite, NameInWorkcell,
+        Pending, SiteID, WorkcellModel,
     },
     widgets::canvas_tooltips::CanvasTooltips,
 };
@@ -148,7 +148,7 @@ pub struct PlaceObject3d {
 
 #[derive(Clone, Debug)]
 pub enum PlaceableObject {
-    Model(Model),
+    ModelInstance(ModelInstance<Entity>),
     Anchor,
     VisualMesh(WorkcellModel),
     CollisionMesh(WorkcellModel),
@@ -174,9 +174,9 @@ pub fn place_object_3d_setup(
             set_visibility(cursor.dagger, &mut visibility, true);
             set_visibility(cursor.halo, &mut visibility, true);
         }
-        PlaceableObject::Model(m) => {
+        PlaceableObject::ModelInstance(m) => {
             // Spawn the model as a child of the cursor
-            cursor.set_model_preview(&mut commands, Some(m.clone()));
+            cursor.set_model_instance_preview(&mut commands, Some(m.clone()));
             set_visibility(cursor.dagger, &mut visibility, false);
             set_visibility(cursor.halo, &mut visibility, false);
         }
@@ -466,7 +466,7 @@ pub fn on_placement_chosen_3d(
                 NameInWorkcell("Unnamed".to_string()),
             ))
             .id(),
-        PlaceableObject::Model(object) => {
+        PlaceableObject::ModelInstance(object) => {
             let model_id = commands.spawn((object, VisualCue::outline())).id();
             // Create a parent anchor to contain the new model in
             commands