Using icon to display robot (#809)

* Render image if robot icon exists Signed-off-by: angatupyry <[email protected]> * Add scale to robot resource Signed-off-by: angatupyry <[email protected]> * Using scale if exists in resource Signed-off-by: angatupyry <[email protected]> * Make waypoints transparent Signed-off-by: angatupyry <[email protected]> * Adjust text according to its length Signed-off-by: angatupyry <[email protected]> * Remove hasOwn property control Signed-off-by: angatupyry <[email protected]> --------- Signed-off-by: angatupyry <[email protected]> (cherry picked from commit db60f9c) Signed-off-by: Aaron Chong <[email protected]>
open-rmf · Nov 2, 2023 · dd3de3e · dd3de3e
1 parent 56316c4
commit dd3de3e
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Showing 7 changed files with 146 additions and 64 deletions.
diff --git a/packages/dashboard/src/components/map-app.tsx b/packages/dashboard/src/components/map-app.tsx
@@ -18,14 +18,14 @@ import {
   RobotTableData,
   ShapeThreeRendering,
   TextThreeRendering,
+  RobotData,
 } from 'react-components';
 import { EMPTY, merge, scan, Subscription, switchMap } from 'rxjs';
 import appConfig from '../app-config';
 import { ResourcesContext } from './app-contexts';
 import { AppEvents } from './app-events';
 import { createMicroApp } from './micro-app';
 import { RmfAppContext } from './rmf-app';
-import { RobotData } from './robots-overlay';
 import { TrajectoryData } from './trajectories-overlay';
 import { WorkcellData } from './workcells-overlay';
 import { RobotSummary } from './robots/robot-summary';
@@ -46,6 +46,7 @@ const colorManager = new ColorManager();
 
 const DEFAULT_ZOOM_LEVEL = 20;
 const DEFAULT_ROBOT_ZOOM_LEVEL = 6;
+const DEFAULT_ROBOT_SCALE = 0.003;
 
 function getRobotId(fleetName: string, robotName: string): string {
   return `${fleetName}/${robotName}`;
@@ -283,6 +284,7 @@ export const MapApp = styled(
               name: r,
               // no model name
               model: '',
+              scale: resourceManager?.robots.getRobotIconScale(fleetName, r) || DEFAULT_ROBOT_SCALE,
               footprint: 0.5,
               color: await colorManager.robotPrimaryColor(fleetName, r, ''),
               iconPath: (await resourceManager?.robots.getIconPath(fleetName, r)) || undefined,
@@ -536,16 +538,18 @@ export const MapApp = styled(
                 linewidth={5}
               />
             ))}
-          {!disabledLayers['Robots'] && (
-            <RobotThree
-              robots={robots}
-              robotLocations={robotLocations}
-              onRobotClick={(_ev, robot) => {
-                setOpenRobotSummary(true);
-                setSelectedRobot(robot);
-              }}
-            />
-          )}
+          {!disabledLayers['Robots'] &&
+            robots.map((robot) => (
+              <RobotThree
+                key={`${robot.name} ${robot.fleet}`}
+                robot={robot}
+                robotLocations={robotLocations}
+                onRobotClick={(_ev, robot) => {
+                  setOpenRobotSummary(true);
+                  setSelectedRobot(robot);
+                }}
+              />
+            ))}
           <ambientLight />
         </Canvas>
         {openRobotSummary && selectedRobot && (

diff --git a/packages/dashboard/src/components/three-fiber/robot-three.tsx b/packages/dashboard/src/components/three-fiber/robot-three.tsx
@@ -1,11 +1,10 @@
 import { ThreeEvent } from '@react-three/fiber';
 import React from 'react';
-import { RobotThreeMaker } from 'react-components';
+import { RobotThreeMaker, RobotData } from 'react-components';
 import { Euler, Vector3 } from 'three';
-import { RobotData } from '../robots-overlay';
 
 interface RobotThreeProps {
-  robots: RobotData[];
+  robot: RobotData;
   robotLocations: Record<string, [number, number, number]>;
   onRobotClick?: (ev: ThreeEvent<MouseEvent>, robot: RobotData) => void;
 }
@@ -15,8 +14,8 @@ async function exists(url: string) {
   return result.ok;
 }
 
-export const RobotThree = ({ robots, robotLocations, onRobotClick }: RobotThreeProps) => {
-  const STANDAR_Z_POSITION = 4;
+export const RobotThree = ({ robot, robotLocations, onRobotClick }: RobotThreeProps) => {
+  const STANDAR_Z_POSITION = 5;
   const CIRCLE_SEGMENT = 64;
   const [fontPath, setFontPath] = React.useState<string | undefined>(undefined);
 
@@ -32,33 +31,26 @@ export const RobotThree = ({ robots, robotLocations, onRobotClick }: RobotThreeP
     })();
   });
 
-  return (
-    <>
-      {robots.map((robot) => {
-        const robotId = `${robot.fleet}/${robot.name}`;
-        const robotLocation = robotLocations[robotId];
-        if (!robotLocation) {
-          console.log(
-            `RobotThree: Failed to get ${robotId}'s location: robot location was not found`,
-          );
-          return null;
-        }
-        const rotationZ = robotLocation[2] + Math.PI / 2;
+  const robotId = `${robot.fleet}/${robot.name}`;
+  const robotLocation = robotLocations[robotId];
+  if (!robotLocation) {
+    return null;
+  }
+  const rotationZ = robotLocation[2] - Math.PI;
+
+  const position = new Vector3(robotLocation[0], robotLocation[1], STANDAR_Z_POSITION);
 
-        const position = new Vector3(robotLocation[0], robotLocation[1], STANDAR_Z_POSITION);
-        return (
-          <React.Fragment key={robotId}>
-            <RobotThreeMaker
-              robot={robot}
-              position={position}
-              onRobotClick={onRobotClick}
-              rotation={new Euler(0, 0, rotationZ)}
-              circleSegment={CIRCLE_SEGMENT}
-              fontPath={fontPath}
-            />
-          </React.Fragment>
-        );
-      })}
-    </>
+  return (
+    <React.Fragment key={robotId}>
+      <RobotThreeMaker
+        robot={robot}
+        imageUrl={robot.iconPath}
+        position={position}
+        onRobotClick={onRobotClick}
+        rotation={new Euler(0, 0, rotationZ)}
+        circleSegment={CIRCLE_SEGMENT}
+        fontPath={fontPath}
+      />
+    </React.Fragment>
   );
 };
diff --git a/packages/dashboard/src/managers/__mocks__/resources.ts b/packages/dashboard/src/managers/__mocks__/resources.ts
@@ -29,10 +29,12 @@ export default function fakeResources(): ResourceConfigurationsType {
           hardware_1: [],
           station_2: [],
         },
+        scale: 0.01,
       },
       deliveryRobot: {
         icons: { deliveryRobot: '/robots/deliveryRobot/deliveryRobot.png' },
         places: {},
+        scale: 0.01,
       },
     },
     logos: { headerLogo: { icons: { headerLogo: '/logos/header/headerLogo.png' } } },

diff --git a/packages/dashboard/src/managers/resource-manager-robots.ts b/packages/dashboard/src/managers/resource-manager-robots.ts
@@ -5,6 +5,7 @@ const debug = Debug('ResourceManager');
 export interface RobotResource {
   icons: Record<string, string>; // Record<ModelName|FleetName, IconPath>
   places: Record<string, string[]>; // Record<Places, Dispensers[]>
+  scale: number;
 }
 
 export class RobotResourceManager {
@@ -53,6 +54,28 @@ export class RobotResourceManager {
     }
   };
 
+  getRobotIconScale = (fleetName: string, robotModel?: string | undefined): number | null => {
+    if (!this.fleetExists(fleetName)) {
+      debug(`failed to load scale for "${fleetName}/${robotModel}" (fleet not in resources)`);
+      return null;
+    }
+
+    if (!this.robots[fleetName].hasOwnProperty('scale')) {
+      debug(
+        `failed to load scale for "${fleetName}/${robotModel}" (fleet/model does not have an scale)`,
+      );
+      return null;
+    }
+
+    const robotScale = this.robots[fleetName].scale;
+
+    if (!!robotModel) {
+      return robotScale;
+    }
+
+    return null;
+  };
+
   getDispensersPerFleet = (fleetName: string, placeName: string): string[] | null => {
     if (!this.fleetExists(fleetName) || !this.placesExists(fleetName)) {
       debug(

diff --git a/packages/react-components/lib/map/three-fiber/robot-three-maker.tsx b/packages/react-components/lib/map/three-fiber/robot-three-maker.tsx
@@ -1,34 +1,44 @@
 import { Circle, Line, Text } from '@react-three/drei';
-import { ThreeEvent } from '@react-three/fiber';
+import { ThreeEvent, useLoader } from '@react-three/fiber';
 import React from 'react';
-import { Euler, Vector3 } from 'three';
-import { TextThreeRendering } from './text-maker';
+import { Euler, Vector3, Texture, TextureLoader, Color } from 'three';
+import { TextThreeRendering } from '.';
 
 export interface RobotData {
   fleet: string;
   name: string;
   model: string;
   footprint: number;
+  scale: number;
   color: string;
   inConflict?: boolean;
   iconPath?: string;
 }
 
-interface CircleShapeProps {
+interface RobotThreeMakerProps {
+  imageUrl?: string;
+  robot: RobotData;
   position: Vector3;
+  onRobotClick?: (ev: ThreeEvent<MouseEvent>, robot: RobotData) => void;
   rotation: Euler;
-  onRobotClick?: (ev: ThreeEvent<MouseEvent>) => void;
-  robot: RobotData;
-  segment: number;
+  circleSegment: number;
+  fontPath?: string;
 }
 
-interface RobotThreeMakerProps {
+interface RobotImageMakerProps {
+  imageUrl: string;
   robot: RobotData;
   position: Vector3;
   onRobotClick?: (ev: ThreeEvent<MouseEvent>, robot: RobotData) => void;
   rotation: Euler;
-  circleSegment: number;
-  fontPath?: string;
+}
+
+interface CircleShapeProps {
+  position: Vector3;
+  rotation: Euler;
+  onRobotClick?: (ev: ThreeEvent<MouseEvent>) => void;
+  robot: RobotData;
+  segment: number;
 }
 
 const CircleShape = ({
@@ -62,7 +72,48 @@ const CircleShape = ({
   );
 };
 
+const RobotImageMaker = ({
+  imageUrl,
+  position,
+  rotation,
+  onRobotClick,
+  robot,
+}: RobotImageMakerProps): JSX.Element => {
+  const alphaTestThreshold = 0.5;
+  const texture: Texture | undefined = useLoader(TextureLoader, imageUrl, undefined, (err) => {
+    console.error(`Error loading image from ${imageUrl}:`, err);
+  });
+
+  if (!texture) {
+    console.error(`Failed to create image texture with ${robot.iconPath}.`);
+    return <></>;
+  }
+
+  return (
+    <>
+      <mesh
+        position={position}
+        rotation={new Euler(0, 0, rotation.z)}
+        onClick={(ev: ThreeEvent<MouseEvent>) => onRobotClick && onRobotClick(ev, robot)}
+      >
+        <planeGeometry
+          attach="geometry"
+          args={[texture.image.width * robot.scale, texture.image.height * robot.scale]}
+        />
+        <meshBasicMaterial
+          attach="material"
+          map={texture}
+          color={new Color(robot.color)}
+          alphaTest={alphaTestThreshold}
+          toneMapped={false}
+        />
+      </mesh>
+    </>
+  );
+};
+
 export const RobotThreeMaker = ({
+  imageUrl,
   robot,
   position,
   onRobotClick,
@@ -84,13 +135,23 @@ export const RobotThreeMaker = ({
       ) : (
         <TextThreeRendering position={[position.x, position.y, position.z + 1]} text={robot.name} />
       )}
-      <CircleShape
-        position={position}
-        rotation={rotation}
-        onRobotClick={(ev: ThreeEvent<MouseEvent>) => onRobotClick && onRobotClick(ev, robot)}
-        robot={robot}
-        segment={circleSegment}
-      />
+      {imageUrl ? (
+        <RobotImageMaker
+          imageUrl={imageUrl}
+          position={position}
+          rotation={rotation}
+          onRobotClick={(ev: ThreeEvent<MouseEvent>) => onRobotClick && onRobotClick(ev, robot)}
+          robot={robot}
+        />
+      ) : (
+        <CircleShape
+          position={position}
+          rotation={rotation}
+          onRobotClick={(ev: ThreeEvent<MouseEvent>) => onRobotClick && onRobotClick(ev, robot)}
+          robot={robot}
+          segment={circleSegment}
+        />
+      )}
     </>
   );
 };
diff --git a/packages/react-components/lib/map/three-fiber/shape-three-rendering.tsx b/packages/react-components/lib/map/three-fiber/shape-three-rendering.tsx
@@ -53,7 +53,7 @@ export const ShapeThreeRendering = ({
         <group position={position}>
           <mesh
             position={[0, 0, positionZ]}
-            scale={[0.7, 0.7, 0.7]}
+            scale={[0.5, 0.5, 0.5]}
             onPointerOver={debouncedHandlePointerOver}
             onPointerOut={debouncedHandlePointerOut}
           >
@@ -74,7 +74,7 @@ export const ShapeThreeRendering = ({
               </Html>
             )}
             <boxGeometry args={[1.3, 1.3, 1.3]} />
-            <meshStandardMaterial color={color} opacity={1} />
+            <meshStandardMaterial color={color} opacity={0.6} transparent />
           </mesh>
         </group>
       )}

diff --git a/packages/react-components/lib/map/three-fiber/text-maker.tsx b/packages/react-components/lib/map/three-fiber/text-maker.tsx
@@ -21,11 +21,11 @@ export const TextThreeRendering = ({ position, text }: TextThreeRenderingProps):
   };
 
   const scaleFactor = isHovered ? 2 : 1.0;
-
+  const positionX = text && text.length > 5 ? -2 : -1;
   return (
     <>
       <mesh position={position}>
-        <mesh position={[-1, 0, positionZ]}>
+        <mesh position={[positionX, 0, positionZ]}>
           {text && (
             <Html zIndexRange={[0, 0, 1]}>
               {text && (