Move workspace loading to workflows (#233)

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
open-rmf · Aug 5, 2024 · 47552ea · 47552ea
1 parent 9c44fe0
commit 47552ea
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Showing 8 changed files with 412 additions and 250 deletions.
diff --git a/Cargo.lock b/Cargo.lock
diff --git a/rmf_site_editor/Cargo.toml b/rmf_site_editor/Cargo.toml
@@ -55,6 +55,8 @@ nalgebra = "0.32.5"
 
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
 clap = { version = "4.0.10", features = ["color", "derive", "help", "usage", "suggestions"] }
+bevy_impulse = { git = "https://github.com/open-rmf/bevy_impulse", branch = "main" }
 
 [target.'cfg(target_arch = "wasm32")'.dependencies]
 console_error_panic_hook = "0.1.7"
+bevy_impulse = { git = "https://github.com/open-rmf/bevy_impulse", branch = "main", features = ["single_threaded_async"]}
diff --git a/rmf_site_editor/src/keyboard.rs b/rmf_site_editor/src/keyboard.rs
@@ -18,7 +18,7 @@
 use crate::{
     interaction::{ChangeMode, ChangeProjectionMode, InteractionMode, Selection},
     site::{AlignSiteDrawings, Delete},
-    CreateNewWorkspace, CurrentWorkspace, LoadWorkspace, SaveWorkspace,
+    CreateNewWorkspace, CurrentWorkspace, SaveWorkspace, WorkspaceLoader,
 };
 use bevy::{prelude::*, window::PrimaryWindow};
 use bevy_egui::EguiContexts;
@@ -50,12 +50,12 @@ fn handle_keyboard_input(
     mut delete: EventWriter<Delete>,
     mut save_workspace: EventWriter<SaveWorkspace>,
     mut new_workspace: EventWriter<CreateNewWorkspace>,
-    mut load_workspace: EventWriter<LoadWorkspace>,
     mut change_camera_mode: EventWriter<ChangeProjectionMode>,
     mut debug_mode: ResMut<DebugMode>,
     mut align_site: EventWriter<AlignSiteDrawings>,
     current_workspace: Res<CurrentWorkspace>,
     primary_windows: Query<Entity, With<PrimaryWindow>>,
+    mut workspace_loader: WorkspaceLoader,
 ) {
     let Some(egui_context) = primary_windows
         .get_single()
@@ -122,7 +122,7 @@ fn handle_keyboard_input(
         }
 
         if keyboard_input.just_pressed(KeyCode::O) {
-            load_workspace.send(LoadWorkspace::Dialog);
+            workspace_loader.load_from_dialog();
         }
     }
 }
diff --git a/rmf_site_editor/src/lib.rs b/rmf_site_editor/src/lib.rs
@@ -230,6 +230,7 @@ impl Plugin for SiteEditor {
                 OccupancyPlugin,
                 WorkspacePlugin,
                 IssuePlugin,
+                bevy_impulse::ImpulsePlugin::default(),
             ));
 
         if self.headless_export.is_none() {

diff --git a/rmf_site_editor/src/main_menu.rs b/rmf_site_editor/src/main_menu.rs
@@ -16,14 +16,14 @@
 */
 
 use super::demo_world::*;
-use crate::{AppState, Autoload, LoadWorkspace, WorkspaceData};
+use crate::{AppState, Autoload, WorkspaceData, WorkspaceLoader};
 use bevy::{app::AppExit, prelude::*, window::PrimaryWindow};
 use bevy_egui::{egui, EguiContexts};
 
 fn egui_ui(
     mut egui_context: EguiContexts,
     mut _exit: EventWriter<AppExit>,
-    mut _load_workspace: EventWriter<LoadWorkspace>,
+    mut workspace_loader: WorkspaceLoader,
     mut _app_state: ResMut<State<AppState>>,
     autoload: Option<ResMut<Autoload>>,
     primary_windows: Query<Entity, With<PrimaryWindow>>,
@@ -32,7 +32,7 @@ fn egui_ui(
         #[cfg(not(target_arch = "wasm32"))]
         {
             if let Some(filename) = autoload.filename.take() {
-                _load_workspace.send(LoadWorkspace::Path(filename));
+                workspace_loader.load_from_path(filename);
             }
         }
         return;
@@ -57,23 +57,21 @@ fn egui_ui(
 
             ui.horizontal(|ui| {
                 if ui.button("View demo map").clicked() {
-                    _load_workspace.send(LoadWorkspace::Data(WorkspaceData::LegacyBuilding(
-                        demo_office(),
-                    )));
+                    workspace_loader.load_from_data(WorkspaceData::LegacyBuilding(demo_office()));
                 }
 
                 if ui.button("Open a file").clicked() {
-                    _load_workspace.send(LoadWorkspace::Dialog);
+                    workspace_loader.load_from_dialog();
                 }
 
                 if ui.button("Create new file").clicked() {
-                    _load_workspace.send(LoadWorkspace::BlankFromDialog);
+                    workspace_loader.create_empty_from_dialog();
                 }
 
                 // TODO(@mxgrey): Bring this back when we have finished developing
                 // the key features for workcell editing.
                 // if ui.button("Workcell Editor").clicked() {
-                //     _load_workspace.send(LoadWorkspace::Data(WorkspaceData::Workcell(
+                //     workspace_loader.send(LoadWorkspace::Data(WorkspaceData::Workcell(
                 //         demo_workcell(),
                 //     )));
                 // }

diff --git a/rmf_site_editor/src/site/sdf_exporter.rs b/rmf_site_editor/src/site/sdf_exporter.rs
@@ -11,7 +11,7 @@ use crate::{
         ChildLiftCabinGroup, CollisionMeshMarker, DoorSegments, DrawingMarker, FloorSegments,
         LiftDoormat, ModelSceneRoot, TentativeModelFormat, VisualMeshMarker,
     },
-    Autoload, LoadWorkspace,
+    Autoload, WorkspaceLoader,
 };
 use rmf_site_format::{
     IsStatic, LevelElevation, LiftCabin, ModelMarker, NameInSite, NameOfSite, SiteID, WallMarker,
@@ -51,11 +51,11 @@ pub fn headless_sdf_export(
     sites: Query<(Entity, &NameOfSite)>,
     drawings: Query<Entity, With<DrawingMarker>>,
     autoload: Option<ResMut<Autoload>>,
-    mut load_workspace: EventWriter<LoadWorkspace>,
+    mut workspace_loader: WorkspaceLoader,
 ) {
     if let Some(mut autoload) = autoload {
         if let Some(filename) = autoload.filename.take() {
-            load_workspace.send(LoadWorkspace::Path(filename));
+            workspace_loader.load_from_path(filename);
         }
     } else {
         error!("Cannot perform a headless export since no site file was specified for loading");