rmf_site_format 0.0.2

File format parsing for rmf_site_editor
Documentation 
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use crate::{
    Affiliation, Angle, AssetSource, InstanceMarker, IsStatic, ModelDescriptionBundle,
    ModelInstance, ModelMarker, ModelProperty, NameInSite, Parented, Pose, Robot, Rotation, Scale,
};
use glam::DVec2;
use serde::{Deserialize, Serialize};
use std::{
    collections::{BTreeMap, HashMap},
    ops::RangeFrom,
};

#[derive(Deserialize, Serialize, Clone, Default, Debug)]
pub struct Model {
    pub model_name: String,
    #[serde(rename = "name")]
    pub instance_name: String,
    #[serde(rename = "static")]
    pub static_: bool,
    pub x: f64,
    pub y: f64,
    #[serde(rename = "z")]
    pub z_offset: f64,
    pub yaw: f64,
    pub location: Option<u32>,
}

impl Model {
    pub fn to_vec(&self) -> DVec2 {
        DVec2::new(self.x, self.y)
    }

    pub fn to_site(
        &self,
        model_description_name_map: &mut HashMap<String, u32>,
        model_descriptions: &mut BTreeMap<u32, ModelDescriptionBundle>,
        model_instances: &mut BTreeMap<u32, Parented<u32, ModelInstance<u32>>>,
        site_id: &mut RangeFrom<u32>,
        level_id: u32,
        robots: Option<&mut BTreeMap<u32, Robot>>,
    ) -> (u32, Pose) {
        let model_description_id = match model_description_name_map.get(&self.model_name) {
            Some(id) => *id,
            None => {
                let id = site_id.next().unwrap();
                model_description_name_map.insert(self.model_name.clone(), id);
                model_descriptions.insert(
                    id,
                    ModelDescriptionBundle {
                        name: NameInSite(self.model_name.split("/").last().unwrap().to_string()),
                        source: ModelProperty(AssetSource::Search(self.model_name.clone())),
                        is_static: ModelProperty(IsStatic(self.static_)),
                        scale: ModelProperty(Scale::default()),
                        ..Default::default()
                    },
                );
                if let Some(robots) = robots {
                    robots.insert(id, Robot::default());
                }
                id
            }
        };

        let model_instance_id = site_id.next().unwrap();
        let pose = Pose {
            trans: [self.x as f32, self.y as f32, self.z_offset as f32],
            rot: Rotation::Yaw(Angle::Deg(self.yaw.to_degrees() as f32)),
        };
        let model_instance = ModelInstance {
            name: NameInSite(self.instance_name.clone()),
            pose: pose.clone(),
            description: Affiliation(Some(model_description_id)),
            marker: ModelMarker,
            instance_marker: InstanceMarker,
            ..Default::default()
        };
        model_instances.insert(
            model_instance_id,
            Parented {
                parent: level_id,
                bundle: model_instance,
            },
        );
        (model_instance_id, pose)
    }
}