Address TODO for systemparam limit workaround

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

rmf_site_editor/src/keyboard.rs

@@ -44,13 +44,6 @@ impl Plugin for KeyboardInputPlugin {
     }
 }
 
-// TODO(luca) get rid of this once 16 parameters limit is lifted in bevy 0.10
-#[derive(SystemParam)]
-struct KeyboardParams<'w> {
-    align_site: EventWriter<'w, AlignSiteDrawings>,
-    current_workspace: Res<'w, CurrentWorkspace>,
-}
-
 fn handle_keyboard_input(
     keyboard_input: Res<Input<KeyCode>>,
     selection: Res<Selection>,
@@ -64,7 +57,8 @@ fn handle_keyboard_input(
     mut change_camera_mode: EventWriter<ChangeProjectionMode>,
     current_level: Res<CurrentLevel>,
     mut debug_mode: ResMut<DebugMode>,
-    mut params: KeyboardParams,
+    mut align_site: EventWriter<AlignSiteDrawings>,
+    current_workspace: Res<CurrentWorkspace>,
 ) {
     let egui_context = egui_context.ctx_mut();
     let ui_has_focus = egui_context.wants_pointer_input()
@@ -113,8 +107,8 @@ fn handle_keyboard_input(
         }
 
         if keyboard_input.just_pressed(KeyCode::T) {
-            if let Some(site) = params.current_workspace.root {
-                params.align_site.send(AlignSiteDrawings(site));
+            if let Some(site) = current_workspace.root {
+                align_site.send(AlignSiteDrawings(site));
             }
         }
 

rmf_site_editor/src/widgets/diagnostic_window.rs

@@ -176,21 +176,24 @@ impl<'a, 'w1, 's1, 'w2, 's2> DiagnosticWindow<'a, 'w1, 's1, 'w2, 's2> {
             }
 
             if ui.add(Button::new("Validate")).clicked() {
-                self.events.validate_workspace.send(ValidateWorkspace(root));
+                self.events
+                    .request
+                    .validate_workspace
+                    .send(ValidateWorkspace(root));
             }
             if ui.add(Button::new("Close")).clicked() {
                 state.show = false;
             }
         });
         if new_filtered_issues != *filtered_issues {
             self.events
-                .change_more
+                .change
                 .filtered_issues
                 .send(Change::new(new_filtered_issues, root));
         }
         if new_filtered_issue_kinds != *filtered_issue_kinds {
             self.events
-                .change_more
+                .change
                 .filtered_issue_kinds
                 .send(Change::new(new_filtered_issue_kinds, root));
         }

rmf_site_editor/src/widgets/inspector/inspect_fiducial.rs

@@ -109,7 +109,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
             get_group_name(*affiliation).unwrap_or_else(|| "<broken reference>".to_owned());
 
         ui.horizontal(|ui| {
-            let search = &mut self.events.change_more.search_for_fiducial.0;
+            let search = &mut self.events.change.search_for_fiducial.0;
             let mut result = SearchResult::NoMatch;
             let mut any_partial_matches = false;
 
@@ -194,7 +194,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
                             .set_parent(tracker.site())
                             .id();
                         self.events
-                            .change_more
+                            .change
                             .affiliation
                             .send(Change::new(Affiliation(Some(new_group)), self.entity));
                     }
@@ -209,7 +209,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
                         .clicked()
                     {
                         self.events
-                            .change_more
+                            .change
                             .affiliation
                             .send(Change::new(Affiliation(Some(group)), self.entity));
                     }
@@ -249,7 +249,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
                     }
 
                     for (group, name) in tracker.unused() {
-                        if name.contains(&self.events.change_more.search_for_fiducial.0) {
+                        if name.contains(&self.events.change.search_for_fiducial.0) {
                             let select_affiliation = Affiliation(Some(*group));
                             ui.selectable_value(&mut new_affiliation, select_affiliation, name);
                         }
@@ -259,7 +259,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectFiducialWidget<'a, 'w1, 'w2, 's1, 's2> {
 
         if new_affiliation != *affiliation {
             self.events
-                .change_more
+                .change
                 .affiliation
                 .send(Change::new(new_affiliation, self.entity));
         }

rmf_site_editor/src/widgets/inspector/inspect_group.rs

@@ -66,7 +66,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectGroup<'a, 'w1, 'w2, 's1, 's2> {
             ui.label(RichText::new("Texture Properties").size(18.0));
             if let Some(new_texture) = InspectTexture::new(texture, self.default_file).show(ui) {
                 self.events
-                    .change_more
+                    .change
                     .texture
                     .send(Change::new(new_texture, self.group));
             }

rmf_site_editor/src/widgets/inspector/inspect_texture.rs

@@ -85,7 +85,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
         };
         let site = site;
 
-        let search = &mut self.events.change_more.search_for_texture.0;
+        let search = &mut self.events.change.search_for_texture.0;
 
         let mut any_partial_matches = false;
         let mut result = SearchResult::NoMatch;
@@ -187,7 +187,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                             })
                             .set_parent(site)
                             .id();
-                        self.events.change_more.affiliation.send(Change::new(
+                        self.events.change.affiliation.send(Change::new(
                             Affiliation(Some(new_texture_group)),
                             self.entity,
                         ));
@@ -203,7 +203,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
                         .clicked()
                     {
                         self.events
-                            .change_more
+                            .change
                             .affiliation
                             .send(Change::new(Affiliation(Some(group)), self.entity));
                     }
@@ -267,7 +267,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectTextureAffiliation<'a, 'w1, 'w2, 's1, 's2> {
 
         if new_affiliation != *affiliation {
             self.events
-                .change_more
+                .change
                 .affiliation
                 .send(Change::new(new_affiliation, self.entity));
         }

rmf_site_editor/src/widgets/inspector/mod.rs

@@ -346,7 +346,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectorWidget<'a, 'w1, 'w2, 's1, 's2> {
                     .clicked()
                 {
                     if let Some(site) = self.events.request.current_workspace.root {
-                        self.events.align_site.send(AlignSiteDrawings(site));
+                        self.events.request.align_site.send(AlignSiteDrawings(site));
                     }
                 }
                 ui.add_space(10.0);
@@ -525,7 +525,7 @@ impl<'a, 'w1, 'w2, 's1, 's2> InspectorWidget<'a, 'w1, 'w2, 's1, 's2> {
                         .show(ui)
                 {
                     self.events
-                        .change_more
+                        .change
                         .distance
                         .send(Change::new(Distance(new_distance), selection));
                 }

rmf_site_editor/src/widgets/mod.rs

@@ -158,12 +158,6 @@ pub struct ChangeEvents<'w> {
     pub visibility: EventWriter<'w, Change<Visibility>>,
     pub associated_graphs: EventWriter<'w, Change<AssociatedGraphs<Entity>>>,
     pub location_tags: EventWriter<'w, Change<LocationTags>>,
-}
-
-// We split out this new struct to deal with the 16 field limitation on
-// SystemParams.
-#[derive(SystemParam)]
-pub struct MoreChangeEvents<'w> {
     pub affiliation: EventWriter<'w, Change<Affiliation<Entity>>>,
     pub search_for_fiducial: ResMut<'w, SearchForFiducial>,
     pub search_for_texture: ResMut<'w, SearchForTexture>,
@@ -219,6 +213,8 @@ pub struct Requests<'w> {
     pub calculate_grid: EventWriter<'w, CalculateGrid>,
     pub consider_tag: EventWriter<'w, ConsiderLocationTag>,
     pub consider_graph: EventWriter<'w, ConsiderAssociatedGraph>,
+    pub align_site: EventWriter<'w, AlignSiteDrawings>,
+    pub validate_workspace: EventWriter<'w, ValidateWorkspace>,
 }
 
 #[derive(SystemParam)]
@@ -289,7 +285,6 @@ pub struct MenuParams<'w, 's> {
 pub struct AppEvents<'w, 's> {
     pub commands: Commands<'w, 's>,
     pub change: ChangeEvents<'w>,
-    pub change_more: MoreChangeEvents<'w>,
     pub workcell_change: WorkcellChangeEvents<'w>,
     pub display: PanelResources<'w>,
     pub request: Requests<'w>,
@@ -299,9 +294,6 @@ pub struct AppEvents<'w, 's> {
     pub app_state: Res<'w, State<AppState>>,
     pub next_app_state: ResMut<'w, NextState<AppState>>,
     pub visibility_parameters: VisibilityParameters<'w>,
-    // TODO(luca) move these to Requests once 16 limit is lifted
-    pub align_site: EventWriter<'w, AlignSiteDrawings>,
-    pub validate_workspace: EventWriter<'w, ValidateWorkspace>,
 }
 
 fn site_ui_layout(
@@ -558,7 +550,7 @@ fn site_visualizer_ui_layout(
                             .clicked()
                         {
                             if let Some(site) = events.request.current_workspace.root {
-                                events.align_site.send(AlignSiteDrawings(site));
+                                events.request.align_site.send(AlignSiteDrawings(site));
                             }
                         }
                         if ui.add(Button::image_and_text(

rmf_site_editor/src/widgets/view_groups.rs

@@ -205,7 +205,7 @@ impl<'a, 'w1, 's1, 'w2, 's2> ViewGroups<'a, 'w1, 's1, 'w2, 's2> {
                                 .on_hover_text("Merge into this group")
                                 .clicked()
                             {
-                                events.change_more.merge_groups.send(MergeGroups {
+                                events.change.merge_groups.send(MergeGroups {
                                     from_group: merge_from,
                                     into_group: *child,
                                 });