@drawtonomy/sdk 0.7.0 → 0.9.0

package/dist/exporter/opendriveParser.js

@@ -0,0 +1,426 @@
+// OpenDRIVE (.xodr XML) parser.
+//
+// Parses an OpenDRIVE document into an intermediate model (`OdrMap`) that the
+// shape converter (`odrToShapes`) consumes. The parser covers the subset of
+// the standard needed to reconstruct the 2D road network:
+//   - <header>          : revMajor/revMinor + <geoReference> PROJ string
+//   - <road>            : id/name/length/junction, <link>, <planView>
+//                         geometries (line/arc/spiral/paramPoly3/poly3),
+//                         <lanes> (laneOffset + laneSections with widths and
+//                         road marks), minimal <signals>/<objects> records
+//   - <junction>        : connections with laneLinks
+//
+// Like the Lanelet2 OSM parser, this is hand-written so it works in a plain
+// Node runtime without a DOM. When a global `DOMParser` is available (browser
+// or jsdom) it is used for robustness; otherwise a regex-based fallback
+// parses the same XML subset. Unknown elements are ignored; missing optional
+// attributes get defaults; malformed required attributes throw with road id
+// context so problems are easy to locate in large files.
+function getDomParser() {
+    const g = globalThis;
+    return typeof g.DOMParser === 'function' ? g.DOMParser : null;
+}
+function domToXmlNode(el) {
+    const attrs = {};
+    for (let i = 0; i < el.attributes.length; i++) {
+        const a = el.attributes[i];
+        attrs[a.name] = a.value;
+    }
+    const children = [];
+    let text = '';
+    el.childNodes.forEach(child => {
+        if (child.nodeType === 1) {
+            children.push(domToXmlNode(child));
+        }
+        else if (child.nodeType === 3 || child.nodeType === 4) {
+            // Text or CDATA section.
+            text += child.nodeValue ?? '';
+        }
+    });
+    return { name: el.tagName, attrs, children, text };
+}
+const ATTR_RE = /([a-zA-Z_][\w:.-]*)\s*=\s*(?:"([^"]*)"|'([^']*)')/g;
+function parseAttributes(attrString) {
+    const attrs = {};
+    ATTR_RE.lastIndex = 0;
+    let m;
+    while ((m = ATTR_RE.exec(attrString)) !== null) {
+        const value = m[2] !== undefined ? m[2] : m[3];
+        attrs[m[1]] = decodeXmlEntities(value);
+    }
+    return attrs;
+}
+function decodeXmlEntities(s) {
+    return s
+        .replace(/&lt;/g, '<')
+        .replace(/&gt;/g, '>')
+        .replace(/&quot;/g, '"')
+        .replace(/&apos;/g, "'")
+        .replace(/&#(\d+);/g, (_, code) => String.fromCharCode(parseInt(code, 10)))
+        .replace(/&#x([0-9a-fA-F]+);/g, (_, code) => String.fromCharCode(parseInt(code, 16)))
+        .replace(/&amp;/g, '&');
+}
+function encodeXmlText(s) {
+    return s.replace(/&/g, '&amp;').replace(/</g, '&lt;').replace(/>/g, '&gt;');
+}
+/**
+ * Minimal XML parser supporting elements, attributes, self-closing tags,
+ * nested elements, and text/CDATA content. CDATA sections are converted to
+ * entity-escaped text first so their content survives (needed for
+ * <geoReference><![CDATA[+proj=...]]></geoReference>).
+ */
+function parseXmlTreeFallback(xml) {
+    const src = xml
+        .replace(/<!\[CDATA\[([\s\S]*?)\]\]>/g, (_, content) => encodeXmlText(content))
+        .replace(/<\?[\s\S]*?\?>/g, '')
+        .replace(/<!--[\s\S]*?-->/g, '')
+        .replace(/<!DOCTYPE[\s\S]*?>/g, '');
+    const tagRe = /<\/?\s*([a-zA-Z_][\w:.-]*)((?:[^<>"']|"[^"]*"|'[^']*')*)\/?\s*>/g;
+    const stack = [];
+    let root = null;
+    let lastEnd = 0;
+    let m;
+    while ((m = tagRe.exec(src)) !== null) {
+        // Text between the previous tag and this one belongs to the open element.
+        if (m.index > lastEnd && stack.length > 0) {
+            const raw = src.slice(lastEnd, m.index);
+            if (raw.trim().length > 0) {
+                stack[stack.length - 1].text += decodeXmlEntities(raw);
+            }
+        }
+        lastEnd = m.index + m[0].length;
+        const fullTag = m[0];
+        const name = m[1];
+        const rest = m[2];
+        const isClosing = fullTag.startsWith('</');
+        const isSelfClosing = fullTag.endsWith('/>');
+        if (isClosing) {
+            const top = stack.pop();
+            if (!top || top.name !== name) {
+                // Tolerate slight mismatches by ignoring stray closers.
+                continue;
+            }
+        }
+        else {
+            const el = { name, attrs: parseAttributes(rest), children: [], text: '' };
+            const parent = stack[stack.length - 1];
+            if (parent)
+                parent.children.push(el);
+            else
+                root = el;
+            if (!isSelfClosing)
+                stack.push(el);
+        }
+    }
+    return root;
+}
+function parseXmlTree(xml) {
+    const DOMParserImpl = getDomParser();
+    if (DOMParserImpl) {
+        try {
+            const doc = new DOMParserImpl().parseFromString(xml, 'text/xml');
+            const rootEl = doc.documentElement;
+            if (rootEl && rootEl.tagName !== 'parsererror') {
+                return domToXmlNode(rootEl);
+            }
+        }
+        catch {
+            // Fall through to the hand-rolled parser.
+        }
+    }
+    return parseXmlTreeFallback(xml);
+}
+// ---------------------------------------------------------------------------
+// Model extraction helpers
+// ---------------------------------------------------------------------------
+function children(el, name) {
+    return el.children.filter(c => c.name === name);
+}
+function child(el, name) {
+    return el.children.find(c => c.name === name);
+}
+/** Parse an optional float attribute with a default. */
+function numAttr(el, name, fallback) {
+    const raw = el.attrs[name];
+    if (raw === undefined || raw === '')
+        return fallback;
+    const v = parseFloat(raw);
+    return Number.isFinite(v) ? v : fallback;
+}
+/** Parse a required float attribute; throw with context when missing or malformed. */
+function requireNumAttr(el, name, context) {
+    const raw = el.attrs[name];
+    const v = raw === undefined ? NaN : parseFloat(raw);
+    if (!Number.isFinite(v)) {
+        throw new Error(`OpenDRIVE parse error: ${context}: missing or malformed attribute "${name}"`);
+    }
+    return v;
+}
+function requireStrAttr(el, name, context) {
+    const raw = el.attrs[name];
+    if (raw === undefined || raw === '') {
+        throw new Error(`OpenDRIVE parse error: ${context}: missing attribute "${name}"`);
+    }
+    return raw;
+}
+function parseContactPoint(raw) {
+    return raw === 'start' || raw === 'end' ? raw : undefined;
+}
+/** Collect direct <userData code value> children into a code -> value map. */
+function parseUserData(el) {
+    const out = {};
+    for (const ud of children(el, 'userData')) {
+        const code = ud.attrs.code;
+        if (code === undefined)
+            continue;
+        out[code] = ud.attrs.value ?? '';
+    }
+    return out;
+}
+function parseValidity(el) {
+    return children(el, 'validity').map(v => ({
+        fromLane: numAttr(v, 'fromLane', 0),
+        toLane: numAttr(v, 'toLane', 0),
+    }));
+}
+function parseRoadLink(el, context) {
+    if (!el)
+        return undefined;
+    const elementId = requireStrAttr(el, 'elementId', context);
+    const elementType = el.attrs.elementType === 'junction' ? 'junction' : 'road';
+    return { elementType, elementId, contactPoint: parseContactPoint(el.attrs.contactPoint) };
+}
+function parseGeometry(el, roadId) {
+    const ctx = `road ${roadId}, <geometry>`;
+    const base = {
+        s: requireNumAttr(el, 's', ctx),
+        x: requireNumAttr(el, 'x', ctx),
+        y: requireNumAttr(el, 'y', ctx),
+        hdg: requireNumAttr(el, 'hdg', ctx),
+        length: requireNumAttr(el, 'length', ctx),
+    };
+    const ctxAt = `road ${roadId}, geometry at s=${base.s}`;
+    for (const prim of el.children) {
+        switch (prim.name) {
+            case 'line':
+                return { ...base, kind: 'line' };
+            case 'arc':
+                return { ...base, kind: 'arc', curvature: requireNumAttr(prim, 'curvature', ctxAt) };
+            case 'spiral':
+                return {
+                    ...base,
+                    kind: 'spiral',
+                    curvStart: requireNumAttr(prim, 'curvStart', ctxAt),
+                    curvEnd: requireNumAttr(prim, 'curvEnd', ctxAt),
+                };
+            case 'paramPoly3':
+                return {
+                    ...base,
+                    kind: 'paramPoly3',
+                    aU: requireNumAttr(prim, 'aU', ctxAt),
+                    bU: requireNumAttr(prim, 'bU', ctxAt),
+                    cU: requireNumAttr(prim, 'cU', ctxAt),
+                    dU: requireNumAttr(prim, 'dU', ctxAt),
+                    aV: requireNumAttr(prim, 'aV', ctxAt),
+                    bV: requireNumAttr(prim, 'bV', ctxAt),
+                    cV: requireNumAttr(prim, 'cV', ctxAt),
+                    dV: requireNumAttr(prim, 'dV', ctxAt),
+                    // OpenDRIVE < 1.5 had no pRange attribute; "normalized" is the default.
+                    pRange: prim.attrs.pRange === 'arcLength' ? 'arcLength' : 'normalized',
+                };
+            case 'poly3':
+                return {
+                    ...base,
+                    kind: 'poly3',
+                    a: requireNumAttr(prim, 'a', ctxAt),
+                    b: requireNumAttr(prim, 'b', ctxAt),
+                    c: requireNumAttr(prim, 'c', ctxAt),
+                    d: requireNumAttr(prim, 'd', ctxAt),
+                };
+            default:
+                // Unknown child element — keep scanning for a supported primitive.
+                break;
+        }
+    }
+    throw new Error(`OpenDRIVE parse error: ${ctxAt}: no supported geometry primitive (line/arc/spiral/paramPoly3/poly3)`);
+}
+function parseLane(el, roadId) {
+    const ctx = `road ${roadId}, <lane>`;
+    const id = requireNumAttr(el, 'id', ctx);
+    if (!Number.isInteger(id)) {
+        throw new Error(`OpenDRIVE parse error: ${ctx}: lane id "${el.attrs.id}" is not an integer`);
+    }
+    const linkEl = child(el, 'link');
+    const predecessorIds = [];
+    const successorIds = [];
+    if (linkEl) {
+        for (const p of children(linkEl, 'predecessor'))
+            predecessorIds.push(requireNumAttr(p, 'id', ctx));
+        for (const s of children(linkEl, 'successor'))
+            successorIds.push(requireNumAttr(s, 'id', ctx));
+    }
+    const widths = children(el, 'width').map(w => ({
+        sOffset: numAttr(w, 'sOffset', 0),
+        a: numAttr(w, 'a', 0),
+        b: numAttr(w, 'b', 0),
+        c: numAttr(w, 'c', 0),
+        d: numAttr(w, 'd', 0),
+    }));
+    widths.sort((a, b) => a.sOffset - b.sOffset);
+    const roadMarks = children(el, 'roadMark').map(rm => ({
+        sOffset: numAttr(rm, 'sOffset', 0),
+        type: rm.attrs.type ?? 'none',
+        color: rm.attrs.color,
+    }));
+    roadMarks.sort((a, b) => a.sOffset - b.sOffset);
+    return {
+        id,
+        type: el.attrs.type ?? 'none',
+        level: el.attrs.level === 'true',
+        predecessorIds,
+        successorIds,
+        widths,
+        roadMarks,
+    };
+}
+function parseLaneSection(el, roadId) {
+    const s = numAttr(el, 's', 0);
+    const parseSide = (sideName) => {
+        const sideEl = child(el, sideName);
+        if (!sideEl)
+            return [];
+        return children(sideEl, 'lane').map(l => parseLane(l, roadId));
+    };
+    const left = parseSide('left');
+    const center = parseSide('center');
+    const right = parseSide('right');
+    // Sort inner-to-outer so cumulative width accumulation walks away from the
+    // reference line: left = 1, 2, 3, ...; right = -1, -2, -3, ...
+    left.sort((a, b) => a.id - b.id);
+    right.sort((a, b) => b.id - a.id);
+    return { s, left, center, right };
+}
+function parseRoad(el) {
+    const id = requireStrAttr(el, 'id', '<road>');
+    const ctx = `road ${id}`;
+    const length = requireNumAttr(el, 'length', ctx);
+    const linkEl = child(el, 'link');
+    const predecessor = linkEl ? parseRoadLink(child(linkEl, 'predecessor'), `${ctx} <predecessor>`) : undefined;
+    const successor = linkEl ? parseRoadLink(child(linkEl, 'successor'), `${ctx} <successor>`) : undefined;
+    const planViewEl = child(el, 'planView');
+    const planView = planViewEl ? children(planViewEl, 'geometry').map(g => parseGeometry(g, id)) : [];
+    planView.sort((a, b) => a.s - b.s);
+    const lanesEl = child(el, 'lanes');
+    const laneOffsets = lanesEl
+        ? children(lanesEl, 'laneOffset').map(lo => ({
+            s: numAttr(lo, 's', 0),
+            a: numAttr(lo, 'a', 0),
+            b: numAttr(lo, 'b', 0),
+            c: numAttr(lo, 'c', 0),
+            d: numAttr(lo, 'd', 0),
+        }))
+        : [];
+    laneOffsets.sort((a, b) => a.s - b.s);
+    const laneSections = lanesEl
+        ? children(lanesEl, 'laneSection').map(ls => parseLaneSection(ls, id))
+        : [];
+    laneSections.sort((a, b) => a.s - b.s);
+    const elevationEl = child(el, 'elevationProfile');
+    const hasElevation = !!elevationEl && children(elevationEl, 'elevation').some(e => {
+        // A single flat elevation record (a=b=c=d=0) carries no height information.
+        return numAttr(e, 'a', 0) !== 0 || numAttr(e, 'b', 0) !== 0 || numAttr(e, 'c', 0) !== 0 || numAttr(e, 'd', 0) !== 0;
+    });
+    const lateralEl = child(el, 'lateralProfile');
+    const hasSuperelevation = !!lateralEl && (children(lateralEl, 'superelevation').length > 0 || children(lateralEl, 'shape').length > 0);
+    const signalsEl = child(el, 'signals');
+    const signals = signalsEl
+        ? children(signalsEl, 'signal').map(sig => ({
+            id: sig.attrs.id ?? '',
+            s: numAttr(sig, 's', 0),
+            t: numAttr(sig, 't', 0),
+            type: sig.attrs.type ?? '',
+            subtype: sig.attrs.subtype ?? '',
+            name: sig.attrs.name ?? '',
+            width: numAttr(sig, 'width', 0),
+            height: numAttr(sig, 'height', 0),
+            validity: parseValidity(sig),
+            userData: parseUserData(sig),
+        }))
+        : [];
+    const signalReferences = signalsEl
+        ? children(signalsEl, 'signalReference').map(ref => ({
+            id: ref.attrs.id ?? '',
+            s: numAttr(ref, 's', 0),
+            t: numAttr(ref, 't', 0),
+            validity: parseValidity(ref),
+        }))
+        : [];
+    const objectsEl = child(el, 'objects');
+    const objects = objectsEl
+        ? children(objectsEl, 'object').map(obj => ({
+            id: obj.attrs.id ?? '',
+            s: numAttr(obj, 's', 0),
+            t: numAttr(obj, 't', 0),
+            type: obj.attrs.type ?? '',
+            subtype: obj.attrs.subtype,
+            name: obj.attrs.name ?? '',
+            hdg: numAttr(obj, 'hdg', 0),
+            length: numAttr(obj, 'length', 0),
+            width: numAttr(obj, 'width', 0),
+            userData: parseUserData(obj),
+        }))
+        : [];
+    return {
+        id,
+        name: el.attrs.name ?? '',
+        length,
+        junction: el.attrs.junction ?? '-1',
+        predecessor,
+        successor,
+        planView,
+        laneOffsets,
+        laneSections,
+        signals,
+        signalReferences,
+        objects,
+        userData: parseUserData(el),
+        hasElevation,
+        hasSuperelevation,
+    };
+}
+function parseJunction(el) {
+    const id = requireStrAttr(el, 'id', '<junction>');
+    const connections = children(el, 'connection').map(conn => {
+        const ctx = `junction ${id}, <connection>`;
+        return {
+            id: conn.attrs.id ?? '',
+            incomingRoad: requireStrAttr(conn, 'incomingRoad', ctx),
+            connectingRoad: requireStrAttr(conn, 'connectingRoad', ctx),
+            contactPoint: parseContactPoint(conn.attrs.contactPoint) ?? 'start',
+            laneLinks: children(conn, 'laneLink').map(ll => ({
+                from: requireNumAttr(ll, 'from', ctx),
+                to: requireNumAttr(ll, 'to', ctx),
+            })),
+        };
+    });
+    return { id, name: el.attrs.name ?? '', connections };
+}
+/** Parse an OpenDRIVE XML string into the intermediate `OdrMap` model. */
+export function parseOpenDriveXml(xmlString) {
+    const root = parseXmlTree(xmlString);
+    if (!root || root.name !== 'OpenDRIVE') {
+        throw new Error('OpenDRIVE parse error: missing <OpenDRIVE> root element');
+    }
+    const headerEl = child(root, 'header');
+    const geoRefEl = headerEl ? child(headerEl, 'geoReference') : undefined;
+    const geoReference = geoRefEl ? geoRefEl.text.trim() || null : null;
+    const header = {
+        revMajor: headerEl ? numAttr(headerEl, 'revMajor', 1) : 1,
+        revMinor: headerEl ? numAttr(headerEl, 'revMinor', 0) : 0,
+        geoReference,
+    };
+    const roads = children(root, 'road').map(parseRoad);
+    const junctions = children(root, 'junction').map(parseJunction);
+    return { header, roads, junctions, rawXml: xmlString };
+}
+//# sourceMappingURL=opendriveParser.js.map

package/dist/exporter/opendriveParser.js.map

@@ -0,0 +1 @@
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package/dist/exporter/osmToShapes.d.ts

@@ -6,7 +6,7 @@ import { type OsmData } from './osmParser';
  * a custom allocator to coordinate IDs with their own counters.
  */
 export interface ShapeIdAllocator {
-    next(kind: 'point' | 'linestring' | 'lane'): ShapeId;
+    next(kind: 'point' | 'linestring' | 'lane' | 'traffic_light' | 'crosswalk'): ShapeId;
 }
 /** Default allocator: monotonic counter per shape kind. */
 export declare function createShapeIdAllocator(): ShapeIdAllocator;
@@ -42,6 +42,49 @@ export interface ImportedLane {
     attributes: Record<string, string>;
     next: string[];
     prev: string[];
+    /**
+     * Imported lane shape ids that must yield to this lane, restored from a
+     * `right_of_way` regulatory element where this lane plays the
+     * "right_of_way" role.
+     */
+    yieldLaneIds?: string[];
+}
+export interface ImportedTrafficLight {
+    id: ShapeId;
+    /** Canvas position (midpoint of the "refers" way). */
+    x: number;
+    y: number;
+    /** Signal width in canvas pixels (span of the "refers" way). */
+    w: number;
+    /** Signal height in canvas pixels (not encoded in the source; 2:1 aspect default). */
+    h: number;
+    /** OSM id of the regulatory_element relation ('' for non-OSM sources). */
+    osmId: string;
+    /** Imported lane shape ids whose lanelet relations reference this regulatory element. */
+    affectedLaneIds: string[];
+    /** Imported linestring shape id of the "ref_line" stop line, or null. */
+    stopLineId: string | null;
+    attributes: Record<string, string>;
+}
+export interface ImportedCrosswalk {
+    id: ShapeId;
+    /** Canvas position (midpoint of the crosswalk axis). */
+    x: number;
+    y: number;
+    /** Crosswalk axis start/end in shape-local coordinates (rotation 0). */
+    startX: number;
+    startY: number;
+    endX: number;
+    endY: number;
+    /** Stripe band thickness across the road (canvas pixels). */
+    crosswalkWidth: number;
+    /** OSM id of the regulatory_element relation ('' for non-OSM sources). */
+    osmId: string;
+    /** Imported lane shape ids whose lanelet relations reference this regulatory element. */
+    affectedLaneIds: string[];
+    /** Imported linestring shape id of the "ref_line" stop line, or null. */
+    stopLineId: string | null;
+    attributes: Record<string, string>;
 }
 export interface ImportBounds {
     minX: number;
@@ -57,6 +100,10 @@ export interface ImportedShapes {
     points: ImportedPoint[];
     linestrings: ImportedLinestring[];
     lanes: ImportedLane[];
+    /** Traffic lights promoted from regulatory elements / signals. */
+    trafficLights: ImportedTrafficLight[];
+    /** Crosswalks promoted from `crosswalk` regulatory elements / objects. */
+    crosswalks: ImportedCrosswalk[];
     bounds: ImportBounds;
     /**
      * Geographic center used as the canvas origin during projection. The host
@@ -73,8 +120,10 @@ export interface OsmToShapesOptions {
     idAllocator?: ShapeIdAllocator;
     /**
      * Restrict conversion to the given lanelet relation IDs. When omitted, all
-     * `type=lanelet` relations are converted (regulatory_element etc. are
-     * always skipped here; they are preserved separately via the OSM sidecar).
+     * `type=lanelet` relations are converted. Traffic light / crosswalk /
+     * right_of_way regulatory elements are promoted to editable shapes or lane
+     * props (restricted to the selected lanelets when a selection is given);
+     * other relation types are preserved via the sidecar.
      */
     selectedLaneIds?: readonly string[];
 }

package/dist/exporter/osmToShapes.d.ts.map

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