Refactor RobotProperty implementation

crates/rmf_site_editor/src/site/mod.rs

@@ -87,6 +87,9 @@ pub use measurement::*;
 pub mod model;
 pub use model::*;
 
+pub mod model_property;
+pub use model_property::*;
+
 pub mod modifier;
 pub use modifier::*;
 
@@ -310,8 +313,23 @@ impl Plugin for SitePlugin {
             PropertyPlugin::<OnLevel<Entity>, Robot>::default(),
             SlotcarSdfPlugin,
             MaterialPlugin::<ExtendedMaterial<StandardMaterial, LaneArrowMaterial>>::default(),
+            InfiniteGridPlugin,
+        ))
+        .add_plugins((
+            RobotPropertiesPlugin::default(),
+            RobotPropertyPlugin::<Mobility, RecallMobility>::default(),
+            RobotPropertyPlugin::<Collision, RecallCollision>::default(),
+            RobotPropertyPlugin::<PowerDissipation, RecallPowerDissipation>::default(),
+            RobotPropertyPlugin::<PowerSource, RecallPowerSource>::default(),
+            EmptyRobotPropertyPlugin::<Mobility>::new(),
+            EmptyRobotPropertyPlugin::<Collision>::new(),
+            EmptyRobotPropertyPlugin::<PowerSource>::new(),
+            RobotPropertyKindPlugin::<DifferentialDrive, Mobility, RecallDifferentialDrive>::default(),
+            RobotPropertyKindPlugin::<CircleCollision, Collision, RecallCircleCollision>::default(),
+            RobotPropertyKindPlugin::<AmbientSystem, PowerDissipation, RecallAmbientSystem>::default(),
+            RobotPropertyKindPlugin::<MechanicalSystem, PowerDissipation, RecallMechanicalSystem>::default(),
+            RobotPropertyKindPlugin::<Battery, PowerSource, RecallBattery>::default(),
         ))
-        .add_plugins((InfiniteGridPlugin,))
         .add_issue_type(&DUPLICATED_DOOR_NAME_ISSUE_UUID, "Duplicate door name")
         .add_issue_type(&DUPLICATED_LIFT_NAME_ISSUE_UUID, "Duplicate lift name")
         .add_issue_type(

crates/rmf_site_editor/src/site/model_property.rs

@@ -0,0 +1,92 @@
+/*
+ * Copyright (C) 2025 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::site::{AssetSource, IsStatic, ModelProperty, Scale};
+use bevy::{
+    ecs::{component::ComponentId, system::EntityCommands},
+    prelude::*,
+};
+use std::collections::HashMap;
+
+/// Function that inserts a default property into an entity
+pub type InsertModelPropertyFn = fn(EntityCommands);
+
+pub fn get_insert_model_property_fn<T: Component + Default>() -> InsertModelPropertyFn {
+    |mut e_commands| {
+        e_commands.insert(T::default());
+    }
+}
+
+/// Function that removes a property, if it exists, from an entity
+pub type RemoveModelPropertyFn = fn(EntityCommands);
+
+pub fn get_remove_model_property_fn<T: Component + Default>() -> RemoveModelPropertyFn {
+    |mut e_commands| {
+        e_commands.remove::<T>();
+    }
+}
+
+/// This resource keeps track of all the properties that can be configured for a model description.
+#[derive(Resource)]
+pub struct ModelPropertyData {
+    pub required: HashMap<ComponentId, (String, InsertModelPropertyFn, RemoveModelPropertyFn)>,
+    pub optional: HashMap<ComponentId, (String, InsertModelPropertyFn, RemoveModelPropertyFn)>,
+}
+
+impl FromWorld for ModelPropertyData {
+    fn from_world(world: &mut World) -> Self {
+        let mut required = HashMap::new();
+        world.register_component::<ModelProperty<AssetSource>>();
+        required.insert(
+            world
+                .components()
+                .component_id::<ModelProperty<AssetSource>>()
+                .unwrap(),
+            (
+                "Asset Source".to_string(),
+                get_insert_model_property_fn::<ModelProperty<AssetSource>>(),
+                get_remove_model_property_fn::<ModelProperty<AssetSource>>(),
+            ),
+        );
+        world.register_component::<ModelProperty<Scale>>();
+        required.insert(
+            world
+                .components()
+                .component_id::<ModelProperty<Scale>>()
+                .unwrap(),
+            (
+                "Scale".to_string(),
+                get_insert_model_property_fn::<ModelProperty<Scale>>(),
+                get_remove_model_property_fn::<ModelProperty<Scale>>(),
+            ),
+        );
+        world.register_component::<ModelProperty<IsStatic>>();
+        required.insert(
+            world
+                .components()
+                .component_id::<ModelProperty<IsStatic>>()
+                .unwrap(),
+            (
+                "Is Static".to_string(),
+                get_insert_model_property_fn::<IsStatic>(),
+                get_remove_model_property_fn::<IsStatic>(),
+            ),
+        );
+        let optional = HashMap::new();
+        Self { required, optional }
+    }
+}