feat(rrt): rrt environment example started

.gitignore

@@ -14,4 +14,6 @@
 **/*.png
 !**/assets/**/*
 
+**/*rustc-ice*
+
 .bacon-locations

crates/gbpplanner-rs/examples/rrt3d.rs

@@ -1,22 +1,19 @@
 //! This is a simple example of the `rrt` crate within Bevy.
 // mod super::theme;
 
-use bevy::math::primitives::Cuboid;
 use bevy::prelude::*;
-// use bevy::render::primitives::Sphere;
 use bevy_infinite_grid::{InfiniteGridBundle, InfiniteGridPlugin, InfiniteGridSettings};
 use catppuccin::Flavour;
-use gbpplanner_rs::environment::camera::{CameraMovementMode, CameraResetEvent};
-use gbpplanner_rs::environment::{MainCamera, ObstacleMarker};
-use gbpplanner_rs::input::camera::CameraInputPlugin;
-use gbpplanner_rs::movement::{self, LinearMovementBundle, MovementPlugin, OrbitMovementBundle};
-use gbpplanner_rs::theme::{CatppuccinTheme, ColorFromCatppuccinColourExt};
-use gbpplanner_rs::ui::controls::ChangingBinding;
-use gbpplanner_rs::ui::ActionBlock;
-// use ncollide3d::na::{self, Isometry3, Vector3};
-// use ncollide3d::query;
-// use ncollide3d::query::Proximity;
-// use ncollide3d::shape;
+use gbpplanner_rs::{
+    environment::{
+        camera::{CameraMovementMode, CameraResetEvent},
+        MainCamera, ObstacleMarker,
+    },
+    input::{camera::CameraInputPlugin, ChangingBinding},
+    movement::{self, LinearMovementBundle, MovementPlugin, OrbitMovementBundle},
+    theme::{CatppuccinTheme, ColorFromCatppuccinColourExt},
+    ui::ActionBlock,
+};
 use parry3d::{
     na::{self, Isometry3, Vector3},
     query::{self, intersection_test},
@@ -40,7 +37,7 @@ fn main() {
     ))
     .init_state::<CameraMovementMode>()
     .insert_resource(AmbientLight {
-        color: Color::default(),
+        color:      Color::default(),
         brightness: 1000.0,
     })
     .insert_resource(ClearColor(Color::from_catppuccin_colour(
@@ -138,7 +135,7 @@ fn rrt_path(
     let p = CollisionProblem {
         obstacle: shape::Cuboid::new(Vector3::new(0.5f32, 0.5, 0.25)),
         // intersection sphere does not need a very big radius
-        ball: shape::Ball::new(0.1f32),
+        ball:     shape::Ball::new(0.1f32),
     };
 
     if *index == path.len() {
@@ -223,7 +220,7 @@ fn infinite_grid(mut commands: Commands, catppuccin_theme: Res<CatppuccinTheme>)
 
 struct CollisionProblem {
     obstacle: shape::Cuboid,
-    ball: shape::Ball,
+    ball:     shape::Ball,
 }
 
 impl CollisionProblem {

crates/gbpplanner-rs/examples/rrtenv.rs

@@ -0,0 +1,62 @@
+//! example crate to take the environment config from the config file
+//! and generate the necessary environment and colliders for rrt to work
+use bevy::prelude::*;
+use gbpplanner_rs::{
+    asset_loader::AssetLoaderPlugin,
+    cli,
+    config::{read_config, Config, Environment, FormationGroup},
+    environment::EnvironmentPlugin,
+    input::{camera::CameraInputPlugin, ChangingBinding, InputPlugin},
+    theme::ThemePlugin,
+};
+
+fn main() -> anyhow::Result<()> {
+    better_panic::debug_install();
+
+    let cli = cli::parse_arguments();
+
+    let (config, formation, environment): (Config, FormationGroup, Environment) = if cli.default {
+        (
+            Config::default(),
+            FormationGroup::default(),
+            Environment::default(),
+        )
+    } else {
+        let config = read_config(cli.config.as_ref())?;
+        if let Some(ref inner) = cli.config {
+            println!(
+                "successfully read config from: {}",
+                inner.as_os_str().to_string_lossy()
+            );
+        }
+
+        let formation = FormationGroup::from_file(&config.formation_group)?;
+        println!(
+            "successfully read formation config from: {}",
+            config.formation_group
+        );
+        let environment = Environment::from_file(&config.environment)?;
+        println!(
+            "successfully read environment config from: {}",
+            config.environment
+        );
+
+        (config, formation, environment)
+    };
+
+    let mut app = App::new();
+    app.insert_resource(config)
+        .insert_resource(formation)
+        .insert_resource(environment)
+        .init_resource::<ChangingBinding>()
+        .add_plugins((
+            DefaultPlugins,
+            AssetLoaderPlugin,
+            CameraInputPlugin,
+            EnvironmentPlugin,
+            ThemePlugin,
+        ))
+        .run();
+
+    Ok(())
+}

crates/gbpplanner-rs/src/bevy_utils.rs

@@ -1,4 +1,4 @@
-#![deny(missing_docs)]
+#![warn(missing_docs)]
 //! Useful function when working with bevy
 
 use bevy::{app::Plugin, ecs::prelude::*, hierarchy::DespawnRecursiveExt};
@@ -61,10 +61,18 @@ impl BevyPluginExt for bevy::app::App {
 
 pub mod run_conditions {
     use bevy::{
-        ecs::system::Res,
+        ecs::{
+            event::{Event, Events},
+            system::Res,
+        },
         input::{keyboard::KeyCode, ButtonInput},
     };
 
+    /// Trait for checking if an event exists
+    pub fn event_exists<T: Event>(res_event: Option<Res<Events<T>>>) -> bool {
+        res_event.is_some()
+    }
+
     //     pub fn any_input_just_pressed(
     //         // inputs: impl IntoIterator<Item = ButtonInput<KeyCode>>,
     //         // inputs: impl IntoIterator<Item = KeyCode>,

crates/gbpplanner-rs/src/cli.rs

@@ -1,4 +1,4 @@
-#![deny(missing_docs)]
+#![warn(missing_docs)]
 //! cli argument parser module
 
 use clap::Parser;

crates/gbpplanner-rs/src/config/reader.rs

@@ -1,4 +1,4 @@
-#![deny(missing_docs)]
+#![warn(missing_docs)]
 
 use std::path::Path;
 

crates/gbpplanner-rs/src/environment/map.rs

@@ -5,7 +5,10 @@ use bevy::{
 use bevy_infinite_grid::{InfiniteGridBundle, InfiniteGridPlugin, InfiniteGridSettings};
 use catppuccin::Flavour;
 
-use crate::{asset_loader::SceneAssets, config, theme::CatppuccinTheme, ui};
+use crate::{
+    asset_loader::SceneAssets, bevy_utils::run_conditions::event_exists, config,
+    input::DrawSettingsEvent, theme::CatppuccinTheme,
+};
 
 pub struct MapPlugin;
 
@@ -21,7 +24,12 @@ impl Plugin for MapPlugin {
             .init_state::<HeightMapState>()
             .add_plugins(InfiniteGridPlugin)
             .add_systems(Startup, (infinite_grid, lighting, flat_map))
-            .add_systems(Update, (obstacles.run_if(environment_png_is_loaded), show_or_hide_height_map, show_or_hide_flat_map));
+            .add_systems(Update,
+                (
+                    obstacles.run_if(environment_png_is_loaded),
+                    show_or_hide_height_map.run_if(event_exists::<DrawSettingsEvent>),
+                    show_or_hide_flat_map.run_if(event_exists::<DrawSettingsEvent>))
+                );
     }
 }
 
@@ -88,21 +96,18 @@ fn flat_map(
     });
 
     // Spawn an entity with the mesh and material, and position it in 3D space
-    commands.spawn((
-        FlatMap,
-        PbrBundle {
-            mesh: scene_assets.meshes.plane.clone(),
-            material: material_handle,
-            visibility: if config.visualisation.draw.sdf {
-                Visibility::Visible
-            } else {
-                Visibility::Hidden
-            },
-            transform: Transform::from_xyz(0.0, -0.1, 0.0)
-                .with_rotation(Quat::from_rotation_x(-std::f32::consts::FRAC_PI_2)),
-            ..default()
+    commands.spawn((FlatMap, PbrBundle {
+        mesh: scene_assets.meshes.plane.clone(),
+        material: material_handle,
+        visibility: if config.visualisation.draw.sdf {
+            Visibility::Visible
+        } else {
+            Visibility::Hidden
         },
-    ));
+        transform: Transform::from_xyz(0.0, -0.1, 0.0)
+            .with_rotation(Quat::from_rotation_x(-std::f32::consts::FRAC_PI_2)),
+        ..default()
+    }));
 }
 
 /// **Bevy** [`Update`] system
@@ -111,7 +116,7 @@ fn flat_map(
 /// set the visibility of the [`VariableVisualiser`] entities
 fn show_or_hide_flat_map(
     mut query: Query<(&FlatMap, &mut Visibility)>,
-    mut draw_setting_event: EventReader<ui::DrawSettingsEvent>,
+    mut draw_setting_event: EventReader<DrawSettingsEvent>,
 ) {
     for event in draw_setting_event.read() {
         if matches!(event.setting, config::DrawSetting::Sdf) {
@@ -245,19 +250,16 @@ fn obstacles(
         ..default()
     });
 
-    commands.spawn((
-        HeightMap,
-        PbrBundle {
-            mesh: meshes.add(mesh),
-            material: material_handle,
-            visibility: if config.visualisation.draw.height_map {
-                Visibility::Visible
-            } else {
-                Visibility::Hidden
-            },
-            ..default()
+    commands.spawn((HeightMap, PbrBundle {
+        mesh: meshes.add(mesh),
+        material: material_handle,
+        visibility: if config.visualisation.draw.height_map {
+            Visibility::Visible
+        } else {
+            Visibility::Hidden
         },
-    ));
+        ..default()
+    }));
 }
 
 /// **Bevy** [`Component`] to represent the heightmap.
@@ -271,7 +273,7 @@ pub struct HeightMap;
 /// to set the visibility of the [`HeightMap`] entities
 fn show_or_hide_height_map(
     mut query: Query<(&HeightMap, &mut Visibility)>,
-    mut draw_setting_event: EventReader<ui::DrawSettingsEvent>,
+    mut draw_setting_event: EventReader<DrawSettingsEvent>,
 ) {
     for event in draw_setting_event.read() {
         if matches!(event.setting, config::DrawSetting::HeightMap) {

crates/gbpplanner-rs/src/environment/map_generator.rs

@@ -1,24 +1,27 @@
 use angle::Angle;
 use bevy::prelude::*;
+use parry2d::shape;
 // use bevy_more_shapes::Cylinder;
 // use bevy_math::RegularPolygon;
 use serde::{Deserialize, Serialize};
 
 use crate::{
     asset_loader::SceneAssets,
+    bevy_utils::run_conditions::event_exists,
     config::{environment::PlaceableShape, Config, DrawSetting, Environment, Obstacle, Obstacles},
-    ui::DrawSettingsEvent,
+    input::DrawSettingsEvent,
 };
 
-use parry2d::shape;
-
 pub struct GenMapPlugin;
 
 impl Plugin for GenMapPlugin {
     fn build(&self, app: &mut App) {
         app.init_resource::<Colliders>()
             .add_systems(Startup, (build_tile_grid, build_obstacles))
-            .add_systems(Update, show_or_hide_generated_map);
+            .add_systems(
+                Update,
+                show_or_hide_generated_map.run_if(event_exists::<DrawSettingsEvent>),
+            );
     }
 }
 

crates/gbpplanner-rs/src/factorgraph/factorgraph.rs

@@ -1,3 +1,4 @@
+#![warn(missing_docs)]
 use std::ops::Range;
 
 use bevy::{

crates/gbpplanner-rs/src/factorgraph/message.rs

@@ -1,4 +1,4 @@
-#![deny(missing_docs)]
+#![warn(missing_docs)]
 //! Message module.
 //!
 //! Contains the message struct that variables and factors send between each

crates/gbpplanner-rs/src/input/camera.rs

@@ -6,13 +6,16 @@ use leafwing_input_manager::{common_conditions::action_just_pressed, prelude::*}
 use strum::IntoEnumIterator;
 use strum_macros::EnumIter;
 
-use super::super::{
-    environment::camera::{CameraMovementMode, MainCamera},
-    movement::{AngularVelocity, Orbit, Velocity},
+use super::{
+    super::{
+        environment::camera::{CameraMovementMode, MainCamera},
+        movement::{AngularVelocity, Orbit, Velocity},
+    },
+    ChangingBinding,
 };
 use crate::{
     environment::{self, camera::CameraResetEvent},
-    ui::{ActionBlock, ChangingBinding},
+    ui::ActionBlock,
 };
 
 #[derive(Default)]
@@ -164,7 +167,7 @@ fn camera_actions(
     >,
     // mut query_cameras: Query<&mut Camera>,
     currently_changing: Res<ChangingBinding>,
-    action_block: Res<ActionBlock>,
+    action_block: Option<Res<ActionBlock>>,
     mut camera_reset_event: EventWriter<CameraResetEvent>,
     sensitivity: Res<CameraSensitivity>,
     // mut window: Query<&PrimaryWindow>,
@@ -189,11 +192,12 @@ fn camera_actions(
     if let Ok((action_state, mut velocity, mut angular_velocity, orbit, transform, camera)) =
         query.get_single_mut()
     {
-        // if currently_changing.on_cooldown() || currently_changing.is_changing() {
-        if currently_changing.on_cooldown()
-            || currently_changing.is_changing()
-            || action_block.is_blocked()
+        let is_action_blocked =
+            action_block.is_some() && action_block.as_ref().unwrap().is_blocked();
+
+        if currently_changing.on_cooldown() || currently_changing.is_changing() || is_action_blocked
         {
+            info!("Camera actions are blocked");
             velocity.value = Vec3::ZERO;
             angular_velocity.value = Vec3::ZERO;
             return;