feat(wasm): get wasm build to work

.gitignore

@@ -1,6 +1,7 @@
 /target
 .direnv/
 **/dist/
+*.wasm
 
 *.log
 # pixi environments

crates/gbpplanner-rs/Cargo.toml

@@ -47,6 +47,8 @@ leafwing-input-manager = "0.13.3"
 bevy_infinite_grid = { git = "https://github.com/AU-Master-Thesis/bevy_infinite_grid", branch = "bevy-v0.13.0" }
 # bevy_mesh_terrain = "0.6.1"
 
+bevy_asset_loader = "0.20.0"
+
 bevy_file_dialog = "0.5.0"
 
 heck            = "0.5.0"

crates/gbpplanner-rs/assets/shaders/line_material.wgsl

@@ -11,4 +11,4 @@ fn fragment(
     mesh: VertexOutput,
 ) -> @location(0) vec4<f32> {
     return material.color;
-}
+}

crates/gbpplanner-rs/build/macos/create_icns_linux.sh

@@ -1,4 +1,4 @@
-#!/usr/bin/env sh 
+#!/usr/bin/env sh
 
 rm -rf AppIcon.iconset/*
 mkdir -p AppIcon.iconset

crates/gbpplanner-rs/build/web/styles.css

@@ -11,10 +11,10 @@ body {
 }
 
 .game-container {
-    /* width: 100%; */
-    /* height: 100%; */
-    width: 800px;
-    height: 600px;
+    width: 100%;
+    height: 100%;
+    /* width: 800px; */
+    /* height: 600px; */
     display: flex;
     justify-content: center;
     align-items: center;
@@ -52,6 +52,6 @@ body {
 
 #bevy {
     z-index: 2;
-    /* width: 100% !important; */
-    /* height: 100% !important; */
+    width: 100% !important;
+    height: 100% !important;
 }

crates/gbpplanner-rs/src/asset_loader.rs

@@ -1,5 +1,6 @@
 // https://github.com/marcelchampagne/bevy-basics/blob/main/episode-3/src/asset_loader.rs
 use bevy::{math::primitives::Rectangle, prelude::*};
+use bevy_asset_loader::prelude::*;
 
 use crate::{
     config::Config,
@@ -31,15 +32,28 @@ pub struct Materials {
     pub obstacle: Handle<StandardMaterial>,
 }
 
+#[derive(AssetCollection, Resource)]
+pub struct ImageAssets {
+    #[asset(path = "imgs/junction.png")]
+    pub obstacle_image_raw: Handle<Image>,
+    #[asset(path = "imgs/junction_sdf.png")]
+    pub obstacle_image_sdf: Handle<Image>,
+}
+
 /// **Bevy** [`Resource`] to hold all assets in a common place
 /// Good practice to load assets once, and then reference them by their
 /// [`Handle`]s
 #[derive(Resource, Debug, Default)]
 pub struct SceneAssets {
+    // #[asset(path = "fonts/JetBrainsMonoNerdFont-Regular.ttf")]
     pub main_font: Handle<Font>,
+    // #[asset(path = "models/roomba.glb#Scene0")]
     pub roomba: Handle<Scene>,
+    // #[asset(path = "models/roomba.glb#Scene0")]
     pub object: Handle<Scene>,
+    // #[asset(path = "imgs/junction.png")]
     pub obstacle_image_raw: Handle<Image>,
+    // #[asset(path = "imgs/junction_sdf.png")]
     pub obstacle_image_sdf: Handle<Image>,
     pub meshes: Meshes,
     pub materials: Materials,

crates/gbpplanner-rs/src/main.rs

@@ -19,9 +19,7 @@ pub(crate) mod macros;
 use std::path::PathBuf;
 
 use bevy::{
-    core::FrameCount,
-    prelude::*,
-    window::{WindowMode, WindowTheme},
+    asset::AssetMetaCheck, core::FrameCount, prelude::*, window::{WindowMode, WindowTheme}
 };
 // use bevy_dev_console::prelude::*;
 use bevy_mod_picking::DefaultPickingPlugins;
@@ -215,6 +213,8 @@ fn main() -> anyhow::Result<()> {
         .insert_resource(config)
         .insert_resource(formation)
         .insert_resource(environment)
+        .insert_resource(AssetMetaCheck::Never) // needed for wasm build to work
+
         .add_plugins(EntropyPlugin::<WyRand>::default())
         .add_plugins((
             DefaultPlugins.set(

crates/gbpplanner-rs/src/planner/spawner.rs

@@ -130,6 +130,8 @@ fn place_unplanned_waypoint(
 
 /// Every [`ObstacleFactor`] has a static reference to the obstacle image.
 static OBSTACLE_IMAGE: OnceLock<Image> = OnceLock::new();
+// static OBSTACLE_IMAGE: OnceLock<Image> =
+//     OnceLock::new().get_or_init(|| include_bytes!("./assets/imgs/junction_sdf.png"));
 
 /// Component attached to an entity that spawns formations.
 #[derive(Component)]
@@ -171,7 +173,7 @@ fn setup(mut commands: Commands, formation_group: Res<FormationGroup>) {
 /// spawn.
 /// Assumes that the `FormationGroup` resource has been initialised, and does
 /// not change during the program's execution.
-#[derive(Event)]
+#[derive(Debug, Event)]
 pub struct FormationSpawnEvent {
     pub formation_group_index: usize,
 }
@@ -216,12 +218,14 @@ fn spawn_formation(
 ) {
     // only continue if the image has been loaded
     let Some(image) = image_assets.get(&scene_assets.obstacle_image_sdf) else {
+        error!("obstacle sdf not loaded yet");
         return;
     };
 
     let _ = OBSTACLE_IMAGE.get_or_init(|| image.clone());
 
     for event in spawn_event_reader.read() {
+        warn!("new formation spawn event received: {:?}", event);
         let formation = &formation_group.formations[event.formation_group_index];
         let first_wp = formation.waypoints.first();
 

crates/gbpplanner-rs/src/planner/visualiser/factorgraphs.rs

@@ -141,9 +141,9 @@ fn create_factorgraph_visualizer(
             let [x, y] = variable.estimated_position();
             let transform = Vec3::new(x as f32, config.visualisation.height.objects, y as f32);
             let robottracker = RobotTracker {
-                robot_id:       *robot_id,
+                robot_id: *robot_id,
                 variable_index: index.into(),
-                order:          i,
+                order: i,
             };
 
             debug!(