Fix georeference, incapsulate asset loading plugins

Signed-off-by: Luca Della Vedova <[email protected]>
open-rmf · Feb 26, 2024 · 24c1c72 · 24c1c72
1 parent 43f7983
commit 24c1c72
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Showing 7 changed files with 38 additions and 102 deletions.
diff --git a/rmf_site_editor/src/asset_loaders.rs b/rmf_site_editor/src/asset_loaders.rs
@@ -0,0 +1,10 @@
+use crate::SdfPlugin;
+use bevy::prelude::*;
+/// A plugin used to consolidate asset loaders for types supported in the Gazebo / ROS ecosystem.
+pub struct AssetLoadersPlugin;
+
+impl Plugin for AssetLoadersPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_plugins((bevy_stl::StlPlugin, bevy_obj::ObjPlugin, SdfPlugin));
+    }
+}
diff --git a/rmf_site_editor/src/lib.rs b/rmf_site_editor/src/lib.rs
@@ -10,6 +10,9 @@ use wasm_bindgen::prelude::*;
 pub mod aabb;
 pub mod animate;
 
+pub mod asset_loaders;
+use asset_loaders::*;
+
 pub mod keyboard;
 use keyboard::*;
 
@@ -174,11 +177,11 @@ impl Plugin for SiteEditor {
         app.insert_resource(DirectionalLightShadowMap { size: 2048 })
             .add_state::<AppState>()
             .add_plugins((
+                AssetLoadersPlugin,
                 LogHistoryPlugin,
                 AabbUpdatePlugin,
                 EguiPlugin,
                 KeyboardInputPlugin,
-                SdfPlugin,
                 MainMenuPlugin,
                 WorkcellEditorPlugin,
                 SitePlugin,

diff --git a/rmf_site_editor/src/osm_slippy_map.rs b/rmf_site_editor/src/osm_slippy_map.rs
@@ -18,7 +18,10 @@
 use std::{f32::consts::PI, io::Write, path::PathBuf};
 
 use bevy::{
-    asset::io::{AssetReaderError, Reader, VecReader},
+    asset::{
+        io::{AssetReaderError, Reader, VecReader},
+        AssetPath,
+    },
     prelude::{Mesh, Vec2},
     render::{mesh::Indices, render_resource::PrimitiveTopology},
 };
@@ -75,35 +78,31 @@ impl TryFrom<PathBuf> for OSMTile {
     type Error = String;
 
     fn try_from(p: PathBuf) -> Result<Self, Self::Error> {
-        let (zoom, xtile, ytile) = p.components().collect_tuple().ok_or(
-            "Invalid path when converting to OSMTile, three elements are required".to_owned(),
-        )?;
+        let (zoom, xtile, ytile) = p
+            .components()
+            .map(|c| c.as_os_str().to_string_lossy())
+            .collect_tuple()
+            .ok_or(
+                "Invalid path when converting to OSMTile, three elements are required".to_owned(),
+            )?;
+        let ytile = ytile.strip_suffix(".png").ok_or("Suffix not found")?;
+        dbg!(&zoom, &xtile, &ytile);
         Ok(OSMTile {
-            xtile: xtile
-                .as_os_str()
-                .to_string_lossy()
-                .parse::<i32>()
-                .map_err(|e| e.to_string())?,
-            ytile: ytile
-                .as_os_str()
-                .to_string_lossy()
-                .parse::<i32>()
-                .map_err(|e| e.to_string())?,
-            zoom: zoom
-                .as_os_str()
-                .to_string_lossy()
-                .parse::<i32>()
-                .map_err(|e| e.to_string())?,
+            xtile: xtile.parse::<i32>().map_err(|e| e.to_string())?,
+            ytile: ytile.parse::<i32>().map_err(|e| e.to_string())?,
+            zoom: zoom.parse::<i32>().map_err(|e| e.to_string())?,
         })
     }
 }
 
-impl From<OSMTile> for PathBuf {
-    fn from(t: OSMTile) -> Self {
-        [t.zoom, t.xtile, t.ytile]
+impl From<&OSMTile> for AssetPath<'_> {
+    fn from(t: &OSMTile) -> Self {
+        let mut path: PathBuf = [t.zoom, t.xtile, t.ytile]
             .iter()
             .map(|v| v.to_string())
-            .collect()
+            .collect();
+        path.set_extension("png");
+        AssetPath::from(path).with_source("osm-tile")
     }
 }
 

diff --git a/rmf_site_editor/src/site/georeference.rs b/rmf_site_editor/src/site/georeference.rs
@@ -1,10 +1,9 @@
-use bevy::{prelude::*, window::PrimaryWindow};
+use bevy::{asset::AssetPath, prelude::*, window::PrimaryWindow};
 use bevy_egui::{egui, EguiContexts};
 use bevy_mod_raycast::primitives::rays::Ray3d;
 use camera_controls::{CameraControls, ProjectionMode};
 use rmf_site_format::{GeographicComponent, GeographicOffset};
 use std::collections::HashSet;
-use std::path::PathBuf;
 use utm::*;
 
 use crate::{
@@ -297,7 +296,7 @@ fn spawn_tile(
     };
     let quad_handle = meshes.add(mesh);
 
-    let texture_handle: Handle<Image> = asset_server.load(PathBuf::from(tile.clone()));
+    let texture_handle: Handle<Image> = asset_server.load(AssetPath::from(&tile));
     let material_handle = materials.add(StandardMaterial {
         base_color_texture: Some(texture_handle.clone()),
         alpha_mode: AlphaMode::Blend,

diff --git a/rmf_site_editor/src/site/mod.rs b/rmf_site_editor/src/site/mod.rs
@@ -210,7 +210,6 @@ impl Plugin for SitePlugin {
         .add_event::<UpdateFuelCache>()
         .add_event::<SetFuelApiKey>()
         .add_event::<MergeGroups>()
-        .add_plugins((bevy_stl::StlPlugin, bevy_obj::ObjPlugin))
         .add_plugins((
             ChangePlugin::<AssociatedGraphs<Entity>>::default(),
             RecallPlugin::<RecallAssociatedGraphs<Entity>>::default(),

diff --git a/rmf_site_editor/src/site_asset_io.rs b/rmf_site_editor/src/site_asset_io.rs
@@ -223,7 +223,6 @@ impl Plugin for SiteAssetIoPlugin {
         // the asset server is constructed and added the resource manager
         app.register_asset_source(
             "search",
-            //AssetSourceBuilder::platform_default("assets", None),
             BevyAssetSource::build().with_reader(|| {
                 Box::new(SiteAssetReader::new(|path: &Path| {
                     // Order should be:

diff --git a/rmf_site_editor/src/urdf_loader.rs b/rmf_site_editor/src/urdf_loader.rs