Proof of concept for headless SDF exporting (#215)

Signed-off-by: Luca Della Vedova <[email protected]>

rmf_site_editor/Cargo.toml

@@ -21,6 +21,7 @@ bevy_mod_raycast = "0.16"
 bevy_mod_outline = "0.6"
 # PR merged after 0.10 but not released yet, bump to 0.10.1 once merged
 bevy_infinite_grid = { git = "https://github.com/ForesightMiningSoftwareCorporation/bevy_infinite_grid", rev = "86018dd" }
+bevy_gltf_export = { git = "https://github.com/luca-della-vedova/bevy_gltf_export", branch = "luca/transform_api"}
 bevy_polyline = "0.8.1"
 bevy_stl = "0.12"
 bevy_obj = { version = "0.12.1", features = ["scene"] }
@@ -43,8 +44,9 @@ tracing = "0.1.37"
 tracing-subscriber = "0.3.1"
 rfd = "0.12"
 urdf-rs = "0.7"
+yaserde = "0.7"
 utm = "0.1.6"
-sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "a5daef0"}
+sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "9fc35f2"}
 gz-fuel = { git = "https://github.com/open-rmf/gz-fuel-rs", branch = "luca/ehttp" }
 pathdiff = "*"
 tera = "1.19.1"

rmf_site_editor/examples/extending_menu.rs

@@ -84,5 +84,7 @@ impl Plugin for MyMenuPlugin {
 
 /// Lets embed site editor in our application with our own plugin
 fn main() {
-    App::new().add_plugins((SiteEditor, MyMenuPlugin)).run();
+    App::new()
+        .add_plugins((SiteEditor::default(), MyMenuPlugin))
+        .run();
 }

rmf_site_editor/src/interaction/mod.rs

@@ -97,7 +97,9 @@ use bevy_polyline::PolylinePlugin;
 pub struct SiteRaycastSet;
 
 #[derive(Default)]
-pub struct InteractionPlugin;
+pub struct InteractionPlugin {
+    pub headless: bool,
+}
 
 #[derive(Debug, Clone, Copy, Default, Hash, PartialEq, Eq, States)]
 pub enum InteractionState {
@@ -171,8 +173,10 @@ impl Plugin for InteractionPlugin {
                 CategoryVisibilityPlugin::<WallMarker>::visible(true),
                 CategoryVisibilityPlugin::<WorkcellVisualizationMarker>::visible(true),
             ))
-            .add_plugins((CameraControlsPlugin, ModelPreviewPlugin))
-            .add_systems(
+            .add_plugins((CameraControlsPlugin, ModelPreviewPlugin));
+
+        if !self.headless {
+            app.add_systems(
                 Update,
                 (
                     make_lift_doormat_gizmo,
@@ -255,6 +259,7 @@ impl Plugin for InteractionPlugin {
                     .run_if(in_state(InteractionState::Enable)),
             )
             .add_systems(First, (update_picked, update_interaction_mode));
+        }
     }
 }
 

rmf_site_editor/src/keyboard.rs

@@ -20,7 +20,7 @@ use crate::{
     site::{AlignSiteDrawings, Delete},
     CreateNewWorkspace, CurrentWorkspace, LoadWorkspace, SaveWorkspace,
 };
-use bevy::prelude::*;
+use bevy::{prelude::*, window::PrimaryWindow};
 use bevy_egui::EguiContexts;
 
 #[derive(Debug, Clone, Copy, Resource)]
@@ -55,8 +55,15 @@ fn handle_keyboard_input(
     mut debug_mode: ResMut<DebugMode>,
     mut align_site: EventWriter<AlignSiteDrawings>,
     current_workspace: Res<CurrentWorkspace>,
+    primary_windows: Query<Entity, With<PrimaryWindow>>,
 ) {
-    let egui_context = egui_context.ctx_mut();
+    let Some(egui_context) = primary_windows
+        .get_single()
+        .ok()
+        .and_then(|w| egui_context.try_ctx_for_window_mut(w))
+    else {
+        return;
+    };
     let ui_has_focus = egui_context.wants_pointer_input()
         || egui_context.wants_keyboard_input()
         || egui_context.is_pointer_over_area();

rmf_site_editor/src/lib.rs

@@ -1,4 +1,4 @@
-use bevy::{log::LogPlugin, pbr::DirectionalLightShadowMap, prelude::*};
+use bevy::{app::ScheduleRunnerPlugin, log::LogPlugin, pbr::DirectionalLightShadowMap, prelude::*};
 use bevy_egui::EguiPlugin;
 use main_menu::MainMenuPlugin;
 // use warehouse_generator::WarehouseGeneratorPlugin;
@@ -56,7 +56,7 @@ use wireframe::*;
 use aabb::AabbUpdatePlugin;
 use animate::AnimationPlugin;
 use interaction::InteractionPlugin;
-use site::{OSMViewPlugin, SitePlugin};
+use site::{OSMViewPlugin, SiteFileMenuPlugin, SitePlugin};
 use site_asset_io::SiteAssetIoPlugin;
 
 pub mod osm_slippy_map;
@@ -75,6 +75,9 @@ pub struct CommandLineArgs {
     /// Name of a Site (.site.ron) file to import on top of the base FILENAME.
     #[cfg_attr(not(target_arch = "wasm32"), arg(short, long))]
     pub import: Option<String>,
+    /// Run in headless mode and export the loaded site to the requested path.
+    #[cfg_attr(not(target_arch = "wasm32"), arg(long))]
+    pub headless_export: Option<String>,
 }
 
 #[derive(Clone, Default, Eq, PartialEq, Debug, Hash, States)]
@@ -117,6 +120,7 @@ pub fn run_js() {
 
 pub fn run(command_line_args: Vec<String>) {
     let mut app = App::new();
+    let mut headless_export = None;
 
     #[cfg(not(target_arch = "wasm32"))]
     {
@@ -127,34 +131,59 @@ pub fn run(command_line_args: Vec<String>) {
                 command_line_args.import.map(Into::into),
             ));
         }
+        headless_export = command_line_args.headless_export;
     }
 
-    app.add_plugins(SiteEditor);
+    app.add_plugins(SiteEditor { headless_export });
     app.run();
 }
 
-pub struct SiteEditor;
+#[derive(Default)]
+pub struct SiteEditor {
+    /// Contains Some(path) if the site editor is running in headless mode exporting its site.
+    pub headless_export: Option<String>,
+}
 
 impl Plugin for SiteEditor {
     fn build(&self, app: &mut App) {
+        let mut plugins = DefaultPlugins.build();
+        let headless = {
+            #[cfg(not(target_arch = "wasm32"))]
+            {
+                self.headless_export.is_some()
+            }
+            #[cfg(target_arch = "wasm32")]
+            {
+                false
+            }
+        };
+        plugins = if headless {
+            plugins
+                .set(WindowPlugin {
+                    primary_window: None,
+                    exit_condition: bevy::window::ExitCondition::DontExit,
+                    close_when_requested: false,
+                })
+                .disable::<bevy::winit::WinitPlugin>()
+        } else {
+            plugins.set(WindowPlugin {
+                primary_window: Some(Window {
+                    title: "RMF Site Editor".to_owned(),
+                    #[cfg(not(target_arch = "wasm32"))]
+                    resolution: (1600., 900.).into(),
+                    #[cfg(target_arch = "wasm32")]
+                    canvas: Some(String::from("#rmf_site_editor_canvas")),
+                    #[cfg(target_arch = "wasm32")]
+                    fit_canvas_to_parent: true,
+                    ..default()
+                }),
+                ..default()
+            })
+        };
         app.add_plugins((
             SiteAssetIoPlugin,
-            DefaultPlugins
-                .build()
+            plugins
                 .disable::<LogPlugin>()
-                .set(WindowPlugin {
-                    primary_window: Some(Window {
-                        title: "RMF Site Editor".to_owned(),
-                        #[cfg(not(target_arch = "wasm32"))]
-                        resolution: (1600., 900.).into(),
-                        #[cfg(target_arch = "wasm32")]
-                        canvas: Some(String::from("#rmf_site_editor_canvas")),
-                        #[cfg(target_arch = "wasm32")]
-                        fit_canvas_to_parent: true,
-                        ..default()
-                    }),
-                    ..default()
-                })
                 .set(ImagePlugin {
                     default_sampler: SamplerDescriptor {
                         address_mode_u: AddressMode::Repeat,
@@ -174,6 +203,7 @@ impl Plugin for SiteEditor {
                     ..default()
                 }),
         ));
+
         app.insert_resource(DirectionalLightShadowMap { size: 2048 })
             .add_state::<AppState>()
             .add_plugins((
@@ -185,8 +215,12 @@ impl Plugin for SiteEditor {
                 MainMenuPlugin,
                 WorkcellEditorPlugin,
                 SitePlugin,
-                InteractionPlugin,
-                StandardUiLayout,
+                InteractionPlugin {
+                    headless: self.headless_export.is_some(),
+                },
+                StandardUiLayout {
+                    headless: self.headless_export.is_some(),
+                },
                 AnimationPlugin,
                 OccupancyPlugin,
                 WorkspacePlugin,
@@ -197,10 +231,23 @@ impl Plugin for SiteEditor {
                 IssuePlugin,
                 OSMViewPlugin,
                 SiteWireframePlugin,
+                SiteFileMenuPlugin,
             ));
+
         // Ref https://github.com/bevyengine/bevy/issues/10877. The default behavior causes issues
         // with events being accumulated when not read (i.e. scrolling mouse wheel on a UI widget).
         app.world
             .remove_resource::<bevy::ecs::event::EventUpdateSignal>();
+
+        if let Some(path) = &self.headless_export {
+            // We really don't need a high update rate here since we are IO bound, set a low rate
+            // to save CPU.
+            // TODO(luca) this still seems to take quite some time, check where the bottleneck is.
+            app.add_plugins(ScheduleRunnerPlugin::run_loop(
+                std::time::Duration::from_secs_f64(1.0 / 10.0),
+            ));
+            app.insert_resource(site::HeadlessSdfExportState::new(path));
+            app.add_systems(Last, site::headless_sdf_export);
+        }
     }
 }

rmf_site_editor/src/main_menu.rs

@@ -17,7 +17,7 @@
 
 use super::demo_world::*;
 use crate::{AppState, LoadWorkspace, WorkspaceData};
-use bevy::{app::AppExit, prelude::*, tasks::Task};
+use bevy::{app::AppExit, prelude::*, tasks::Task, window::PrimaryWindow};
 use bevy_egui::{egui, EguiContexts};
 use std::path::PathBuf;
 
@@ -44,6 +44,7 @@ fn egui_ui(
     mut _load_workspace: EventWriter<LoadWorkspace>,
     mut _app_state: ResMut<State<AppState>>,
     autoload: Option<ResMut<Autoload>>,
+    primary_windows: Query<Entity, With<PrimaryWindow>>,
 ) {
     if let Some(mut autoload) = autoload {
         #[cfg(not(target_arch = "wasm32"))]
@@ -56,12 +57,20 @@ fn egui_ui(
         return;
     }
 
+    let Some(ctx) = primary_windows
+        .get_single()
+        .ok()
+        .and_then(|w| egui_context.try_ctx_for_window_mut(w))
+    else {
+        return;
+    };
+
     egui::Window::new("Welcome!")
         .collapsible(false)
         .resizable(false)
         .title_bar(false)
         .anchor(egui::Align2::CENTER_CENTER, egui::vec2(0., 0.))
-        .show(egui_context.ctx_mut(), |ui| {
+        .show(ctx, |ui| {
             ui.heading("Welcome to The RMF Site Editor!");
             ui.add_space(10.);
 

rmf_site_editor/src/site/door.rs

@@ -72,6 +72,19 @@ impl DoorBodyType {
             | DoorBodyType::DoubleSliding { left, right } => vec![*left, *right],
         }
     }
+
+    pub fn links(&self) -> Vec<&str> {
+        match self {
+            DoorBodyType::SingleSwing { .. }
+            | DoorBodyType::SingleSliding { .. }
+            | DoorBodyType::Model { .. } => {
+                vec!["body"]
+            }
+            DoorBodyType::DoubleSwing { .. } | DoorBodyType::DoubleSliding { .. } => {
+                vec!["left", "right"]
+            }
+        }
+    }
 }
 
 #[derive(Debug, Clone, Copy, Component)]

rmf_site_editor/src/site/file_menu.rs

@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2023 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::menu_bar::{FileMenu, MenuEvent, MenuItem, MenuVisualizationStates};
+use crate::{AppState, ExportFormat, SaveWorkspace, SaveWorkspaceDestination};
+use bevy::prelude::*;
+use std::collections::HashSet;
+
+/// Keeps track of which entity is associated to the export sdf button.
+#[derive(Resource)]
+pub struct ExportSdfMenu {
+    export_sdf: Entity,
+}
+
+impl ExportSdfMenu {
+    pub fn get(&self) -> Entity {
+        self.export_sdf
+    }
+}
+
+impl FromWorld for ExportSdfMenu {
+    fn from_world(world: &mut World) -> Self {
+        let site_states = HashSet::from([
+            AppState::SiteEditor,
+            AppState::SiteVisualizer,
+            AppState::SiteDrawingEditor,
+        ]);
+        let file_header = world.resource::<FileMenu>().get();
+        let export_sdf = world
+            .spawn((
+                MenuItem::Text("Export Sdf".to_string()),
+                MenuVisualizationStates(site_states),
+            ))
+            .set_parent(file_header)
+            .id();
+
+        ExportSdfMenu { export_sdf }
+    }
+}
+
+pub fn handle_export_sdf_menu_events(
+    mut menu_events: EventReader<MenuEvent>,
+    sdf_menu: Res<ExportSdfMenu>,
+    mut save_events: EventWriter<SaveWorkspace>,
+) {
+    for event in menu_events.read() {
+        if event.clicked() && event.source() == sdf_menu.get() {
+            save_events.send(SaveWorkspace {
+                destination: SaveWorkspaceDestination::Dialog,
+                format: ExportFormat::Sdf,
+            });
+        }
+    }
+}
+
+#[derive(Default)]
+pub struct SiteFileMenuPlugin;
+
+impl Plugin for SiteFileMenuPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<ExportSdfMenu>().add_systems(
+            Update,
+            handle_export_sdf_menu_events.run_if(AppState::in_site_mode()),
+        );
+    }
+}

rmf_site_editor/src/site/floor.rs

@@ -28,7 +28,7 @@ pub const FLOOR_LAYER_START: f32 = DRAWING_LAYER_START + 0.001;
 
 #[derive(Debug, Clone, Copy, Component)]
 pub struct FloorSegments {
-    mesh: Entity,
+    pub mesh: Entity,
 }
 
 fn make_fallback_floor_mesh(p: Vec3) -> Mesh {