@drawtonomy/sdk 0.7.0 → 0.9.0

package/dist/exporter/osmToShapes.js

@@ -1,5 +1,7 @@
 // Convert parsed Lanelet2 OSM data into the shape primitives that the
-// drawtonomy editor consumes (points, linestrings, lanes).
+// drawtonomy editor consumes (points, linestrings, lanes, traffic lights,
+// crosswalks). right_of_way regulatory elements are restored as lane-level
+// `yieldLaneIds` props rather than standalone shapes.
 //
 // The output is the intermediate `ImportedShapes` structure used by the
 // editor's import flow — not a full DrawtonomySnapshot — because the editor
@@ -9,7 +11,7 @@
 import { latLonToCanvas } from './osmParser';
 /** Default allocator: monotonic counter per shape kind. */
 export function createShapeIdAllocator() {
-    const counters = { point: 0, linestring: 0, lane: 0 };
+    const counters = { point: 0, linestring: 0, lane: 0, traffic_light: 0, crosswalk: 0 };
     return {
         next(kind) {
             const id = `shape:${kind}_${counters[kind]}`;
@@ -178,6 +180,8 @@ export function osmToShapes(osmData, options = {}) {
         points: [],
         linestrings: [],
         lanes: [],
+        trafficLights: [],
+        crosswalks: [],
         bounds: emptyBounds(),
     };
     // Compute the projection center.
@@ -202,14 +206,48 @@ export function osmToShapes(osmData, options = {}) {
     const osmWayToLinestringId = new Map();
     const pointIdToPoint = new Map();
     const linestringIdToLinestring = new Map();
-    // Only `type=lanelet` relations become lanes. Other relation types
-    // (regulatory_element, multipolygon, etc.) are preserved verbatim via the
-    // OSM sidecar.
+    // Only `type=lanelet` relations become lanes. Traffic light regulatory
+    // elements are promoted to traffic light shapes below; other relation types
+    // (multipolygon, other regulatory elements, etc.) are preserved verbatim
+    // via the OSM sidecar.
     let laneletRelations = osmData.relations.filter(r => r.tags.type === 'lanelet');
     if (options.selectedLaneIds) {
         const selected = new Set(options.selectedLaneIds);
         laneletRelations = laneletRelations.filter(r => selected.has(r.id));
     }
+    // Traffic light / crosswalk / right_of_way regulatory elements to promote.
+    // When a lanelet selection is active, only the elements referenced by the
+    // selected lanelets come along.
+    let trafficLightRelations = osmData.relations.filter(r => r.tags.type === 'regulatory_element' && r.tags.subtype === 'traffic_light');
+    let crosswalkRelations = osmData.relations.filter(r => r.tags.type === 'regulatory_element' && r.tags.subtype === 'crosswalk');
+    let rightOfWayRelations = osmData.relations.filter(r => r.tags.type === 'regulatory_element' && r.tags.subtype === 'right_of_way');
+    if (options.selectedLaneIds) {
+        const referencedReIds = new Set();
+        for (const relation of laneletRelations) {
+            for (const member of relation.members) {
+                if (member.type === 'relation' && member.role === 'regulatory_element') {
+                    referencedReIds.add(member.ref);
+                }
+            }
+        }
+        trafficLightRelations = trafficLightRelations.filter(r => referencedReIds.has(r.id));
+        crosswalkRelations = crosswalkRelations.filter(r => referencedReIds.has(r.id));
+        rightOfWayRelations = rightOfWayRelations.filter(r => referencedReIds.has(r.id));
+    }
+    // A `subtype=crosswalk` lanelet that is the "refers" of a promoted crosswalk
+    // regulatory element is consumed into the crosswalk shape — it must not also
+    // materialize as a lane (no duplication).
+    const crosswalkLaneletIds = new Set();
+    for (const re of crosswalkRelations) {
+        for (const member of re.members) {
+            if (member.type === 'relation' && member.role === 'refers') {
+                const lanelet = osmData.relations.find(r => r.id === member.ref);
+                if (lanelet && lanelet.tags.type === 'lanelet')
+                    crosswalkLaneletIds.add(member.ref);
+            }
+        }
+    }
+    laneletRelations = laneletRelations.filter(r => !crosswalkLaneletIds.has(r.id));
     // Collect ways and nodes referenced by the chosen lanelets.
     const usedWayIds = new Set();
     const usedNodeIds = new Set();
@@ -219,6 +257,18 @@ export function osmToShapes(osmData, options = {}) {
                 usedWayIds.add(member.ref);
         }
     }
+    // Stop line ("ref_line") ways become linestrings too even though they are
+    // not lane boundaries; "refers" ways are consumed into the traffic light
+    // shape itself and stay sidecar-only.
+    const refLineWayIds = new Set();
+    for (const re of [...trafficLightRelations, ...crosswalkRelations]) {
+        for (const member of re.members) {
+            if (member.type === 'way' && member.role === 'ref_line' && osmData.ways.has(member.ref)) {
+                refLineWayIds.add(member.ref);
+                usedWayIds.add(member.ref);
+            }
+        }
+    }
     for (const wayId of usedWayIds) {
         const way = osmData.ways.get(wayId);
         if (!way)
@@ -271,8 +321,17 @@ export function osmToShapes(osmData, options = {}) {
         result.linestrings.push(data);
         linestringIdToLinestring.set(linestringId, data);
     }
+    // Stop line ways keep (or gain) the stop_line type so re-exports and the
+    // editor recognize them; third-party files may leave the tag off.
+    for (const wayId of refLineWayIds) {
+        const lsId = osmWayToLinestringId.get(wayId);
+        const ls = lsId ? linestringIdToLinestring.get(lsId) : undefined;
+        if (ls && ls.attributes.type !== 'stop_line')
+            ls.attributes.type = 'stop_line';
+    }
     // Materialize lanes and collect info for connectivity detection.
     const laneInfos = [];
+    const laneShapeIdsByRegElem = new Map();
     for (const relation of laneletRelations) {
         let leftWayId = null;
         let rightWayId = null;
@@ -307,6 +366,13 @@ export function osmToShapes(osmData, options = {}) {
             .map(p => ({ x: p.x, y: p.y }));
         const { invertLeft, invertRight } = alignBoundaries(getPointCoords(leftLinestring.pointIds), getPointCoords(rightLinestring.pointIds));
         const laneId = idAllocator.next('lane');
+        for (const member of relation.members) {
+            if (member.type === 'relation' && member.role === 'regulatory_element') {
+                const list = laneShapeIdsByRegElem.get(member.ref) ?? [];
+                list.push(laneId);
+                laneShapeIdsByRegElem.set(member.ref, list);
+            }
+        }
         laneInfos.push({
             osmId: relation.id,
             laneId,
@@ -329,6 +395,10 @@ export function osmToShapes(osmData, options = {}) {
             invertRight,
             osmId: relation.id,
             attributes: {
+                // Unknown tags (e.g. odr_* source metadata) pass through verbatim so
+                // they survive a Lanelet2 round-trip; the known keys keep their
+                // defaults when absent.
+                ...relation.tags,
                 type: 'lanelet',
                 subtype: relation.tags.subtype || 'road',
                 location: relation.tags.location || 'urban',
@@ -348,6 +418,139 @@ export function osmToShapes(osmData, options = {}) {
             lane.prev = conn.prev;
         }
     }
+    // Materialize traffic lights from regulatory elements. The shape sits at
+    // the midpoint of the "refers" way and spans its width; the way's OSM id is
+    // kept in `refers_osm_id` so re-exports override the sidecar copy in place.
+    for (const re of trafficLightRelations) {
+        const refersMember = re.members.find(m => m.type === 'way' && m.role === 'refers');
+        const refersWay = refersMember ? osmData.ways.get(refersMember.ref) : undefined;
+        if (!refersWay || refersWay.nodeRefs.length === 0)
+            continue;
+        const coords = [];
+        for (const ref of refersWay.nodeRefs) {
+            const node = osmData.nodes.get(ref);
+            if (node)
+                coords.push(latLonToCanvas(node.lat, node.lon, centerLat, centerLon));
+        }
+        if (coords.length === 0)
+            continue;
+        const first = coords[0];
+        const last = coords[coords.length - 1];
+        const span = Math.hypot(last.x - first.x, last.y - first.y);
+        // The OSM encoding carries only the signal width; height keeps the
+        // editor's default 1:2 aspect. Degenerate ways fall back to 30 px.
+        const w = span > 1e-6 ? span : 30;
+        const refLineMember = re.members.find(m => m.type === 'way' && m.role === 'ref_line');
+        const stopLineId = refLineMember ? osmWayToLinestringId.get(refLineMember.ref) ?? null : null;
+        result.trafficLights.push({
+            id: idAllocator.next('traffic_light'),
+            x: (first.x + last.x) / 2,
+            y: (first.y + last.y) / 2,
+            w,
+            h: w * 2,
+            osmId: re.id,
+            affectedLaneIds: laneShapeIdsByRegElem.get(re.id) ?? [],
+            stopLineId,
+            attributes: { ...re.tags, refers_osm_id: refersWay.id },
+        });
+    }
+    // Materialize crosswalks from regulatory elements. The shape geometry is
+    // rebuilt from the "refers" crosswalk lanelet's left/right ways (axis along
+    // the walking direction, band width = boundary separation); the consumed
+    // lanelet / polygon / boundary way ids are kept in the attributes so
+    // re-exports override the sidecar copies in place.
+    const toCanvas = (nodeId) => {
+        const node = osmData.nodes.get(nodeId);
+        return node ? latLonToCanvas(node.lat, node.lon, centerLat, centerLon) : null;
+    };
+    for (const re of crosswalkRelations) {
+        const refersMember = re.members.find(m => m.type === 'relation' && m.role === 'refers');
+        const lanelet = refersMember
+            ? osmData.relations.find(r => r.id === refersMember.ref && r.tags.type === 'lanelet')
+            : undefined;
+        if (!lanelet)
+            continue;
+        const leftWayId = lanelet.members.find(m => m.type === 'way' && m.role === 'left')?.ref;
+        const rightWayId = lanelet.members.find(m => m.type === 'way' && m.role === 'right')?.ref;
+        const leftWay = leftWayId ? osmData.ways.get(leftWayId) : undefined;
+        const rightWay = rightWayId ? osmData.ways.get(rightWayId) : undefined;
+        if (!leftWay || !rightWay || leftWay.nodeRefs.length < 2 || rightWay.nodeRefs.length < 2)
+            continue;
+        const l0 = toCanvas(leftWay.nodeRefs[0]);
+        const l1 = toCanvas(leftWay.nodeRefs[leftWay.nodeRefs.length - 1]);
+        let r0 = toCanvas(rightWay.nodeRefs[0]);
+        let r1 = toCanvas(rightWay.nodeRefs[rightWay.nodeRefs.length - 1]);
+        if (!l0 || !l1 || !r0 || !r1)
+            continue;
+        // Pair the boundary endpoints so left/right run parallel (the right way
+        // may be stored reversed).
+        const dist = (a, b) => Math.hypot(a.x - b.x, a.y - b.y);
+        if (dist(l0, r0) + dist(l1, r1) > dist(l0, r1) + dist(l1, r0)) {
+            ;
+            [r0, r1] = [r1, r0];
+        }
+        const start = { x: (l0.x + r0.x) / 2, y: (l0.y + r0.y) / 2 };
+        const end = { x: (l1.x + r1.x) / 2, y: (l1.y + r1.y) / 2 };
+        const width = (dist(l0, r0) + dist(l1, r1)) / 2;
+        const cx = (start.x + end.x) / 2;
+        const cy = (start.y + end.y) / 2;
+        const refLineMember = re.members.find(m => m.type === 'way' && m.role === 'ref_line');
+        const stopLineId = refLineMember ? osmWayToLinestringId.get(refLineMember.ref) ?? null : null;
+        const polygonMember = re.members.find(m => m.type === 'way' && m.role === 'crosswalk_polygon');
+        const attributes = {
+            ...re.tags,
+            crosswalk_lanelet_osm_id: lanelet.id,
+            crosswalk_left_osm_id: leftWay.id,
+            crosswalk_right_osm_id: rightWay.id,
+        };
+        if (polygonMember)
+            attributes.crosswalk_polygon_osm_id = polygonMember.ref;
+        result.crosswalks.push({
+            id: idAllocator.next('crosswalk'),
+            x: cx,
+            y: cy,
+            startX: start.x - cx,
+            startY: start.y - cy,
+            endX: end.x - cx,
+            endY: end.y - cy,
+            crosswalkWidth: width,
+            osmId: re.id,
+            affectedLaneIds: laneShapeIdsByRegElem.get(re.id) ?? [],
+            stopLineId,
+            attributes,
+        });
+    }
+    // Restore yieldLaneIds from right_of_way regulatory elements: each lanelet
+    // playing the "right_of_way" role gains the materialized "yield" lanelets.
+    const laneByOsmId = new Map();
+    for (const lane of result.lanes)
+        laneByOsmId.set(lane.osmId, lane);
+    for (const re of rightOfWayRelations) {
+        const yieldLaneIds = [];
+        for (const member of re.members) {
+            if (member.type !== 'relation' || member.role !== 'yield')
+                continue;
+            const yieldLane = laneByOsmId.get(member.ref);
+            if (yieldLane && !yieldLaneIds.includes(yieldLane.id))
+                yieldLaneIds.push(yieldLane.id);
+        }
+        if (yieldLaneIds.length === 0)
+            continue;
+        for (const member of re.members) {
+            if (member.type !== 'relation' || member.role !== 'right_of_way')
+                continue;
+            const rowLane = laneByOsmId.get(member.ref);
+            if (!rowLane)
+                continue;
+            // 同じ lanelet が複数の right_of_way RE に属する場合があるため union する
+            const merged = rowLane.yieldLaneIds ?? [];
+            for (const id of yieldLaneIds) {
+                if (!merged.includes(id))
+                    merged.push(id);
+            }
+            rowLane.yieldLaneIds = merged;
+        }
+    }
     // Bounds across all materialized points.
     for (const point of result.points) {
         if (point.x < result.bounds.minX)

package/dist/exporter/osmToShapes.js.map

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package/dist/exporter/projection.d.ts

@@ -0,0 +1,36 @@
+/**
+ * Geographic anchor expressed as WGS84 lat/lon (and optional heading).
+ * Used to derive a local PROJ string anchored at this point.
+ */
+export interface GeoOrigin {
+    lat: number;
+    lon: number;
+    /** Heading of the local page +x axis clockwise from north, in radians. */
+    headingRad?: number;
+}
+/**
+ * Fallback PROJ string used when no geographic origin is available. It still
+ * declares WGS84 explicitly so downstream tools see a defined CRS rather than
+ * an empty <geoReference>.
+ */
+export declare const FALLBACK_GEO_REFERENCE = "+proj=longlat +datum=WGS84";
+/**
+ * Build a Transverse Mercator (tmerc) PROJ.4 string anchored at the given
+ * lat/lon. tmerc is preferred over UTM for small-area maps (sub-km) because
+ * it avoids UTM zone boundary distortion and minimises error near the origin.
+ */
+export declare function latLonToTmercProj(lat: number, lon: number): string;
+/**
+ * Build a UTM PROJ.4 string for the UTM zone containing the given lon. The
+ * hemisphere is selected from the sign of lat. Use this when the consumer
+ * expects a globally-named UTM zone rather than a tmerc-at-origin.
+ */
+export declare function latLonToUtmProj(lat: number, lon: number): string;
+/**
+ * Choose a PROJ.4 string for the given origin. Defaults to tmerc-at-origin,
+ * which is appropriate for the small-area maps that this SDK typically
+ * exports. Falls back to a generic WGS84 longlat string when origin is absent
+ * or malformed.
+ */
+export declare function originToProjString(origin: GeoOrigin | undefined | null, method?: 'tmerc' | 'utm'): string;
+//# sourceMappingURL=projection.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"projection.d.ts","sourceRoot":"","sources":["../../src/exporter/projection.ts"],"names":[],"mappings":"AAUA;;;GAGG;AACH,MAAM,WAAW,SAAS;IACxB,GAAG,EAAE,MAAM,CAAA;IACX,GAAG,EAAE,MAAM,CAAA;IACX,0EAA0E;IAC1E,UAAU,CAAC,EAAE,MAAM,CAAA;CACpB;AAED;;;;GAIG;AACH,eAAO,MAAM,sBAAsB,+BAA+B,CAAA;AAElE;;;;GAIG;AACH,wBAAgB,iBAAiB,CAAC,GAAG,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,GAAG,MAAM,CAWlE;AAED;;;;GAIG;AACH,wBAAgB,eAAe,CAAC,GAAG,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,GAAG,MAAM,CAMhE;AAED;;;;;GAKG;AACH,wBAAgB,kBAAkB,CAChC,MAAM,EAAE,SAAS,GAAG,SAAS,GAAG,IAAI,EACpC,MAAM,GAAE,OAAO,GAAG,KAAe,GAChC,MAAM,CAaR"}

package/dist/exporter/projection.js

@@ -0,0 +1,64 @@
+// PROJ.4 string helpers used by the OpenDRIVE exporter to populate
+// <header><geoReference>.
+//
+// OpenDRIVE 1.8 expects the <geoReference> child of <header> to declare the
+// coordinate reference system as a PROJ.4 string (or similar). Without it,
+// downstream tools (esmini, RoadRunner, CARLA, asam-qc-opendrive) cannot
+// interpret the map's coordinates consistently.
+//
+// No external dependencies — these are pure formatting helpers.
+/**
+ * Fallback PROJ string used when no geographic origin is available. It still
+ * declares WGS84 explicitly so downstream tools see a defined CRS rather than
+ * an empty <geoReference>.
+ */
+export const FALLBACK_GEO_REFERENCE = '+proj=longlat +datum=WGS84';
+/**
+ * Build a Transverse Mercator (tmerc) PROJ.4 string anchored at the given
+ * lat/lon. tmerc is preferred over UTM for small-area maps (sub-km) because
+ * it avoids UTM zone boundary distortion and minimises error near the origin.
+ */
+export function latLonToTmercProj(lat, lon) {
+    return [
+        '+proj=tmerc',
+        `+lat_0=${lat.toFixed(8)}`,
+        `+lon_0=${lon.toFixed(8)}`,
+        '+k=1',
+        '+x_0=0',
+        '+y_0=0',
+        '+datum=WGS84',
+        '+units=m',
+    ].join(' ');
+}
+/**
+ * Build a UTM PROJ.4 string for the UTM zone containing the given lon. The
+ * hemisphere is selected from the sign of lat. Use this when the consumer
+ * expects a globally-named UTM zone rather than a tmerc-at-origin.
+ */
+export function latLonToUtmProj(lat, lon) {
+    const zone = Math.floor((lon + 180) / 6) + 1;
+    const parts = ['+proj=utm', `+zone=${zone}`];
+    if (lat < 0)
+        parts.push('+south');
+    parts.push('+datum=WGS84', '+units=m');
+    return parts.join(' ');
+}
+/**
+ * Choose a PROJ.4 string for the given origin. Defaults to tmerc-at-origin,
+ * which is appropriate for the small-area maps that this SDK typically
+ * exports. Falls back to a generic WGS84 longlat string when origin is absent
+ * or malformed.
+ */
+export function originToProjString(origin, method = 'tmerc') {
+    if (!origin ||
+        typeof origin.lat !== 'number' ||
+        typeof origin.lon !== 'number' ||
+        !Number.isFinite(origin.lat) ||
+        !Number.isFinite(origin.lon)) {
+        return FALLBACK_GEO_REFERENCE;
+    }
+    return method === 'utm'
+        ? latLonToUtmProj(origin.lat, origin.lon)
+        : latLonToTmercProj(origin.lat, origin.lon);
+}
+//# sourceMappingURL=projection.js.map

package/dist/exporter/projection.js.map

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

@@ -54,10 +54,16 @@ export interface LaneProps {
         type: string;
         subtype: string;
         speed_limit?: string;
-    };
+    } & Record<string, string | undefined>;
     next: string[];
     prev: string[];
     osmId: string;
+    /**
+     * Lane shape ids that must yield to this lane (regulatory layer).
+     * Exported as a Lanelet2 `right_of_way` regulatory element whose
+     * "right_of_way" member is this lane and "yield" members are these lanes.
+     */
+    yieldLaneIds?: string[];
 }
 export interface VehicleProps {
     w: number;
@@ -151,6 +157,18 @@ export interface TrafficLightProps {
         subtype?: string;
     } & Record<string, string>;
     osmId: string;
+    /**
+     * Lane shape ids whose traffic this signal controls (regulatory layer).
+     * Exported as a Lanelet2 regulatory element / OpenDRIVE signal validity.
+     */
+    affectedLaneIds?: string[];
+    /** Linestring shape id of the associated stop line, or null when absent. */
+    stopLineId?: string | null;
+    /**
+     * Signal group id. Signals sharing the same controllerId belong to one
+     * intersection controller (exported as an OpenDRIVE <controller>).
+     */
+    controllerId?: string;
 }
 export interface CrosswalkProps {
     /** Crosswalk axis start in shape-local coordinates. */
@@ -172,6 +190,14 @@ export interface CrosswalkProps {
         subtype?: string;
     } & Record<string, string>;
     osmId: string;
+    /**
+     * Lane shape ids whose traffic this crosswalk regulates (regulatory layer).
+     * Exported as a Lanelet2 `crosswalk` regulatory element referenced by the
+     * affected lanelets.
+     */
+    affectedLaneIds?: string[];
+    /** Linestring shape id of the associated stop line, or null when absent. */
+    stopLineId?: string | null;
 }
 export interface FreehandProps {
     points: Array<{
@@ -192,6 +218,17 @@ export interface DrawtonomySnapshot {
         y: number;
         z: number;
     };
+    /**
+     * Optional geographic anchor for the scene, expressed as WGS84 lat/lon plus
+     * an optional heading of the page +x axis clockwise from north (radians).
+     * When present, the OpenDRIVE exporter uses this to populate
+     * <header><geoReference> with a PROJ.4 string.
+     */
+    origin?: {
+        lat: number;
+        lon: number;
+        headingRad?: number;
+    };
 }
 export type ExtensionCapability = 'shapes:write' | 'shapes:read' | 'snapshot:read' | 'snapshot:export' | 'viewport:read' | 'selection:read' | 'ui:panel' | 'ui:notify';
 export interface ExtensionManifest {

package/dist/types.d.ts.map

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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@drawtonomy/sdk",
-  "version": "0.7.0",
+  "version": "0.9.0",
   "description": "SDK for building drawtonomy extensions",
   "type": "module",
   "main": "./dist/index.js",