Use site ID to ensure unique file names (#219)

* Use site ID to ensure unique file names Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai> * Fix style Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai> * Fix door names for toggle floors plugin Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> --------- Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Co-authored-by: Luca Della Vedova <lucadv@intrinsic.ai>
open-rmf · Jun 14, 2024 · bb43fcb · bb43fcb
1 parent 4f78ab3
commit bb43fcb
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Showing 4 changed files with 133 additions and 85 deletions.
diff --git a/rmf_site_editor/src/site/save.rs b/rmf_site_editor/src/site/save.rs
@@ -1278,6 +1278,19 @@ pub fn save_site(world: &mut World) {
             }
             ExportFormat::Sdf => {
                 // TODO(luca) reduce code duplication with default exporting
+
+                // Make sure to generate the site before anything else, because
+                // generating the site will ensure that all items are assigned a
+                // SiteID, and the SDF export process will not work correctly if
+                // any are unassigned.
+                let site = match generate_site(world, save_event.site) {
+                    Ok(site) => site,
+                    Err(err) => {
+                        error!("Unable to compile site: {err}");
+                        continue;
+                    }
+                };
+
                 info!("Saving to {}", new_path.display());
                 let Some(parent_folder) = new_path.parent() else {
                     error!("Unable to save SDF. Please select a save path that has a parent directory.");
@@ -1309,14 +1322,6 @@ pub fn save_site(world: &mut World) {
                 }
 
                 migrate_relative_paths(save_event.site, &new_path, world);
-
-                let site = match generate_site(world, save_event.site) {
-                    Ok(site) => site,
-                    Err(err) => {
-                        error!("Unable to compile site: {err}");
-                        continue;
-                    }
-                };
                 let graphs = legacy::nav_graph::NavGraph::from_site(&site);
                 let sdf = match site.to_sdf() {
                     Ok(sdf) => sdf,

diff --git a/rmf_site_editor/src/site/sdf_exporter.rs b/rmf_site_editor/src/site/sdf_exporter.rs
@@ -53,7 +53,10 @@ pub fn headless_sdf_export(
         return;
     }
     if sites.is_empty() {
-        warn!("Site loading failed, aborting");
+        warn!(
+            "Unable to load site from file [{}] so we cannot export an SDF from it",
+            export_state.target_path,
+        );
         exit.send(bevy::app::AppExit);
     }
     if !missing_models.is_empty() {
@@ -128,6 +131,13 @@ pub fn collect_site_meshes(world: &mut World, site: Entity, folder: &Path) -> Re
         std::fs::write(filename, bytes).map_err(|e| e.to_string())
     };
 
+    let get_site_id = |e: Entity| -> Result<u32, String> {
+        q_site_ids.get(e).map(|id| id.0).map_err(|_| {
+            let backtrace = std::backtrace::Backtrace::force_capture();
+            format!("Site ID was not available for entity {e:?}. Backtrace:\n{backtrace}")
+        })
+    };
+
     let get_mesh_and_material = |entity: Entity| -> Option<(&Mesh, &StandardMaterial)> {
         let Ok((mesh, material)) = q_pbr.get(entity) else {
             return None;
@@ -241,14 +251,22 @@ pub fn collect_site_meshes(world: &mut World, site: Entity, folder: &Path) -> Re
                         visual_data.extend(model_visuals);
                     } else {
                         // Create a new mesh for it
-                        let filename = format!("{}/{}_collision.glb", folder.display(), **name);
+                        let filename = format!(
+                            "{}/model_{}_collision.glb",
+                            folder.display(),
+                            get_site_id(*child)?,
+                        );
                         write_meshes_to_file(
                             model_collisions,
                             None,
                             CompressGltfOptions::skip_materials(),
                             filename,
                         )?;
-                        let filename = format!("{}/{}_visual.glb", folder.display(), **name);
+                        let filename = format!(
+                            "{}/model_{}_visual.glb",
+                            folder.display(),
+                            get_site_id(*child)?,
+                        );
                         write_meshes_to_file(
                             model_visuals,
                             Some(format!("{}_visual", **name)),
@@ -270,20 +288,22 @@ pub fn collect_site_meshes(world: &mut World, site: Entity, folder: &Path) -> Re
                         let Ok(tf) = q_tfs.get(*entity) else {
                             continue;
                         };
-                        let Some(door_name) = door_name else {
-                            continue;
-                        };
 
                         let data = MeshData {
                             mesh,
                             material: Some(material),
                             transform: Some(tf.clone()),
                         };
-                        let filename =
-                            format!("{}/{}_{}.glb", folder.display(), **door_name, segment_name);
+                        let filename = format!(
+                            "{}/door_{}_{}.glb",
+                            folder.display(),
+                            get_site_id(*child)?,
+                            segment_name,
+                        );
+                        let door_name = door_name.map(|n| n.0.as_str()).unwrap_or("");
                         write_meshes_to_file(
                             vec![data],
-                            None,
+                            Some(format!("door_{}_{}", door_name, segment_name)),
                             CompressGltfOptions::default(),
                             filename,
                         )?;
@@ -292,17 +312,25 @@ pub fn collect_site_meshes(world: &mut World, site: Entity, folder: &Path) -> Re
                     continue;
                 };
             }
-            let filename = format!("{}/level_{}_collision.glb", folder.display(), **level_name);
+            let filename = format!(
+                "{}/level_{}_collision.glb",
+                folder.display(),
+                get_site_id(*site_child)?,
+            );
             write_meshes_to_file(
                 collision_data,
-                None,
+                Some(format!("level_{}_collision", **level_name)),
                 CompressGltfOptions::skip_materials(),
                 filename,
             )?;
-            let filename = format!("{}/level_{}_visual.glb", folder.display(), **level_name);
+            let filename = format!(
+                "{}/level_{}_visual.glb",
+                folder.display(),
+                get_site_id(*site_child)?,
+            );
             write_meshes_to_file(
                 visual_data,
-                Some(format!("level_{}_visuals", **level_name)),
+                Some(format!("level_{}_visual", **level_name)),
                 CompressGltfOptions::default(),
                 filename,
             )?;
@@ -327,8 +355,17 @@ pub fn collect_site_meshes(world: &mut World, site: Entity, folder: &Path) -> Re
                     transform: None,
                 });
             }
-            let filename = format!("{}/{}.glb", folder.display(), **lift_name);
-            write_meshes_to_file(lift_data, None, CompressGltfOptions::default(), filename)?;
+            let filename = format!(
+                "{}/lift_{}.glb",
+                folder.display(),
+                get_site_id(*site_child)?
+            );
+            write_meshes_to_file(
+                lift_data,
+                Some(format!("lift_{}", **lift_name)),
+                CompressGltfOptions::default(),
+                filename,
+            )?;
             // Now generate the lift doors
             let LiftCabin::Rect(cabin) = cabin;
             for (face, door) in cabin.doors().iter() {
@@ -357,15 +394,20 @@ pub fn collect_site_meshes(world: &mut World, site: Entity, folder: &Path) -> Re
                             transform: Some(tf.clone()),
                         };
                         let filename = format!(
-                            "{}/{}_{}_{}.glb",
+                            "{}/lift_{}_{}_{}.glb",
                             folder.display(),
-                            **lift_name,
+                            get_site_id(*site_child)?,
                             face.label(),
-                            segment_name
+                            segment_name,
                         );
                         write_meshes_to_file(
                             vec![data],
-                            None,
+                            Some(format!(
+                                "lift_{}_{}_{}",
+                                **lift_name,
+                                face.label(),
+                                segment_name
+                            )),
                             CompressGltfOptions::default(),
                             filename,
                         )?;

diff --git a/rmf_site_editor/src/workspace.rs b/rmf_site_editor/src/workspace.rs
@@ -299,6 +299,8 @@ pub fn dispatch_load_workspace_events(
                             .send(LoadWorkspaceFile(Some(path.clone()), data))
                             .expect("Failed sending load event");
                     }
+                } else {
+                    warn!("Unable to read file [{path:?}] so it cannot be loaded");
                 }
             }
             LoadWorkspace::Data(data) => {