Refactor optional model properties

rmf_site_editor/Cargo.toml

@@ -49,7 +49,6 @@ pathdiff = "*"
 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/model.rs

@@ -33,17 +33,19 @@ pub fn update_model_instance_visual_cues(
             &mut Selected,
             &mut Hovered,
             &mut Affiliation<Entity>,
-            Option<Ref<Tasks<Entity>>>,
+            Option<Ref<Tasks>>,
         ),
         (With<ModelMarker>, Without<Group>),
     >,
-    mut locations: Query<(&mut Selected, &mut Hovered), (With<LocationTags>, Without<ModelMarker>)>,
-    mut removed_components: RemovedComponents<Tasks<Entity>>,
+    mut locations: Query<
+        (&NameInSite, &mut Selected, &mut Hovered),
+        (With<LocationTags>, Without<ModelMarker>),
+    >,
+    mut removed_components: RemovedComponents<Tasks>,
 ) {
     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)
@@ -52,7 +54,6 @@ pub fn update_model_instance_visual_cues(
                     instance_selected
                         .support_selected
                         .insert(description_entity);
-                    is_description_selected = true;
                 } else {
                     instance_selected
                         .support_selected
@@ -72,34 +73,18 @@ pub fn update_model_instance_visual_cues(
         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, mut location_hovered) in locations.iter_mut() {
+                for (_, mut location_selected, mut location_hovered) in locations.iter_mut() {
                     location_selected.support_selected.remove(&instance_entity);
                     location_hovered.support_hovering.remove(&instance_entity);
                 }
             }
-
-            if let Some(task_location) = tasks.0.first().and_then(|t| t.location()) {
-                if let Ok((mut location_selected, mut location_hovered)) =
-                    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);
-                    }
-                    if instance_hovered.cue() {
-                        location_hovered.support_hovering.insert(instance_entity);
-                    } else {
-                        location_hovered.support_hovering.remove(&instance_entity);
-                    }
-                }
-            }
+            // TODO(@xiyuoh) support task-based visual cues
         }
     }
 
     // When instances are removed, prevent any location from supporting them
     for removed in removed_components.read() {
-        for (mut location_selected, mut location_hovered) in locations.iter_mut() {
+        for (_, mut location_selected, mut location_hovered) in locations.iter_mut() {
             location_selected.support_selected.remove(&removed);
             location_hovered.support_hovering.remove(&removed);
         }

rmf_site_editor/src/site/load.rs

@@ -348,18 +348,21 @@ fn generate_site_entities(
         model_description_dependents.insert(model_description_entity, HashSet::new());
         model_description_to_source
             .insert(model_description_entity, model_description.source.0.clone());
-        // Insert optional model properties
-        for optional_property in &model_description.optional_properties.0 {
-            match optional_property {
-                OptionalModelProperty::DifferentialDrive(diff_drive) => commands
-                    .entity(model_description_entity)
-                    .insert(ModelProperty(diff_drive.clone())),
-                OptionalModelProperty::MobileRobotMarker(robot_marker) => commands
-                    .entity(model_description_entity)
-                    .insert(ModelProperty(robot_marker.clone())),
-                _ => continue,
-            };
-        }
+    }
+
+    for (robot_id, robot_data) in &site_data.robots {
+        // Robot IDs are pointing to model description entities
+        if let Some(model_description_entity) = id_to_entity
+            .get(robot_id)
+            .filter(|e| model_description_to_source.contains_key(*e))
+        {
+            commands
+                .entity(*model_description_entity)
+                .insert(ModelProperty(robot_data.clone()));
+        } else {
+            // TODO(@xiyuoh) consider creating an entity if not found
+            error!("Robot is pointing to a non-existent model description!");
+        };
     }
 
     for (model_instance_id, parented_model_instance) in &site_data.model_instances {
@@ -396,15 +399,8 @@ fn generate_site_entities(
                 model_instance.name.0,
             );
         }
-
-        // Insert optional model properties
-        for optional_property in &model_instance.optional_properties.0 {
-            match optional_property {
-                OptionalModelProperty::Tasks(tasks) => {
-                    commands.entity(model_instance_entity).insert(tasks.clone())
-                }
-                _ => continue,
-            };
+        if let Some(tasks) = site_data.tasks.get(model_instance_id) {
+            commands.entity(model_instance_entity).insert(tasks.clone());
         }
     }