@drawtonomy/sdk 0.8.0 → 0.10.0

package/dist/exporter/odrCarryThrough.d.ts

@@ -0,0 +1,89 @@
+import type { Point2D } from './laneCenterline';
+/** Per-road record captured at import time (stored in the sidecar). */
+export interface OdrRoadRecord {
+    /** Lane shape ids materialized from this road, in materialization order. */
+    laneShapeIds: string[];
+    /** Hash of the road's editable shape state at import time. */
+    stateHash: string;
+}
+/** Editable state of one lane shape, as fed into the road state hash. */
+export interface CarryLaneState {
+    /** Left boundary points in travel order (canvas px), or null when unusable. */
+    leftPts: readonly Point2D[] | null;
+    rightPts: readonly Point2D[] | null;
+    attributes: Record<string, string | undefined>;
+    next: readonly string[];
+    prev: readonly string[];
+    yieldLaneIds: readonly string[];
+}
+/** Editable state of a regulatory shape (traffic light / crosswalk). */
+export interface CarryRegulatoryState {
+    kind: 'traffic_light' | 'crosswalk';
+    shapeId: string;
+    /** Positional numeric fields (position, size, rotation). */
+    numbers: readonly number[];
+    attributes: Record<string, string | undefined>;
+    affectedLaneIds: readonly string[];
+    stopLinePts: readonly Point2D[] | null;
+    controllerId: string;
+}
+/**
+ * Deterministic serialization of a road's editable shape state. Lane order
+ * follows the record's laneShapeIds (identical on both sides by
+ * construction); regulatory shapes are sorted by shape id.
+ */
+export declare function serializeRoadState(lanes: readonly CarryLaneState[], regulatory: readonly CarryRegulatoryState[]): string;
+/** Hash of `serializeRoadState` (two independent 32-bit FNV-1a streams). */
+export declare function hashRoadState(lanes: readonly CarryLaneState[], regulatory: readonly CarryRegulatoryState[]): string;
+export interface OdrDocRoad {
+    id: string;
+    /** Junction this road belongs to ("-1" for normal roads). */
+    junction: string;
+    /** Verbatim element text (exact substring of the original XML). */
+    text: string;
+    /** elementIds of road-level <predecessor>/<successor> with elementType="road". */
+    linkRoadRefs: string[];
+    /** elementIds of road-level links with elementType="junction". */
+    linkJunctionRefs: string[];
+    /** ids of <signal> definitions inside this road. */
+    signalIds: string[];
+}
+export interface OdrDocJunction {
+    id: string;
+    text: string;
+    /** incomingRoad / connectingRoad ids referenced by <connection> records. */
+    memberRoadIds: string[];
+}
+export interface OdrDocController {
+    id: string;
+    text: string;
+    /** signalIds referenced by <control> records. */
+    signalIds: string[];
+}
+export interface OdrDocument {
+    headerText: string | null;
+    roads: OdrDocRoad[];
+    junctions: OdrDocJunction[];
+    controllers: OdrDocController[];
+    /** Largest numeric id over roads / junctions (0 when none are numeric). */
+    maxNumericElementId: number;
+    /** Largest numeric id over <signal>/<signalReference> records. */
+    maxNumericSignalId: number;
+    /** Largest numeric <controller> id. */
+    maxNumericControllerId: number;
+}
+/**
+ * Extract the verbatim header / road / junction / controller blocks from an
+ * OpenDRIVE document. Returns null when the input does not look like
+ * OpenDRIVE XML. Regex block matching is safe here because none of these
+ * elements nest within themselves.
+ */
+export declare function extractOdrDocument(xml: string): OdrDocument | null;
+/**
+ * Rewrite the elementId of road-level <predecessor>/<successor> records
+ * according to `roadMapping` (elementType="road") and `junctionMapping`
+ * (elementType="junction"), each original id -> new id. Every byte outside
+ * the rewritten attribute values is preserved.
+ */
+export declare function rewriteRoadLinkTargets(text: string, roadMapping: Map<string, string>, junctionMapping?: Map<string, string>): string;
+//# sourceMappingURL=odrCarryThrough.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/exporter/odrCarryThrough.js

@@ -0,0 +1,186 @@
+// Carry-through support for OpenDRIVE round trips.
+//
+// An imported .xodr keeps its original XML in the sidecar. On export, roads
+// whose shapes were NOT edited since import are re-emitted verbatim (the
+// exact original <road> element text), and only edited roads go through the
+// regular fitting exporter. This makes an unedited import -> export round
+// trip lossless at the XML level, including features the shape model does
+// not represent (elevation profiles, unknown signal types, custom userData).
+//
+// Two halves live here, shared by the importer and the exporter:
+//
+// 1. Road state hashing. At import time `odrToShapes` records, per source
+//    road, the shape ids it materialized plus a hash over their editable
+//    state: boundary point sequences (in travel order), lane attributes,
+//    next/prev connectivity, right-of-way links, and every regulatory shape
+//    (traffic light / crosswalk) touching the road. At export time the same
+//    hash is recomputed from the live shapes; equality means "unedited".
+//
+// 2. Raw document access. <header> / <road> / <junction> / <controller>
+//    elements are extracted from the original XML as verbatim text blocks
+//    together with their ids and cross-references (link targets, junction
+//    membership, signal definitions), so the exporter can decide what stays
+//    verbatim, propagate dirtiness across junctions, keep id spaces
+//    collision-free, and rewrite only the link elementIds that must point at
+//    regenerated roads — leaving every other byte untouched.
+const fmtPts = (pts) => pts ? pts.map(p => `${p.x},${p.y}`).join(';') : 'null';
+const fmtAttrs = (attrs) => Object.entries(attrs)
+    .filter(([, v]) => v !== undefined && v !== null)
+    .map(([k, v]) => `${k}=${v}`)
+    .sort()
+    .join('&');
+const fmtIds = (ids) => [...ids].sort().join(',');
+/**
+ * Deterministic serialization of a road's editable shape state. Lane order
+ * follows the record's laneShapeIds (identical on both sides by
+ * construction); regulatory shapes are sorted by shape id.
+ */
+export function serializeRoadState(lanes, regulatory) {
+    const laneStr = lanes
+        .map(l => `L:${fmtPts(l.leftPts)}|R:${fmtPts(l.rightPts)}|A:${fmtAttrs(l.attributes)}` +
+        `|N:${fmtIds(l.next)}|P:${fmtIds(l.prev)}|Y:${fmtIds(l.yieldLaneIds)}`)
+        .join('\n');
+    const regStr = [...regulatory]
+        .sort((a, b) => (a.shapeId < b.shapeId ? -1 : a.shapeId > b.shapeId ? 1 : 0))
+        .map(r => `${r.kind}:${r.shapeId}|#:${r.numbers.join(',')}|A:${fmtAttrs(r.attributes)}` +
+        `|F:${fmtIds(r.affectedLaneIds)}|S:${fmtPts(r.stopLinePts)}|C:${r.controllerId}`)
+        .join('\n');
+    return `${laneStr}\u0000${regStr}`;
+}
+/** Hash of `serializeRoadState` (two independent 32-bit FNV-1a streams). */
+export function hashRoadState(lanes, regulatory) {
+    const s = serializeRoadState(lanes, regulatory);
+    let a = 0x811c9dc5 | 0;
+    let b = (0x811c9dc5 ^ 0x5bd1e995) | 0;
+    for (let i = 0; i < s.length; i++) {
+        const c = s.charCodeAt(i);
+        a = Math.imul(a ^ c, 0x01000193);
+        b = Math.imul(b ^ c, 0x01000197);
+    }
+    return ((a >>> 0).toString(16).padStart(8, '0') + (b >>> 0).toString(16).padStart(8, '0'));
+}
+/** Match all `<tag .../>` or `<tag ...>...</tag>` blocks (tags do not nest). */
+function matchBlocks(xml, tag) {
+    const re = new RegExp(`<${tag}\\b[^>]*(?:/>|>[\\s\\S]*?</${tag}>)`, 'g');
+    return xml.match(re) ?? [];
+}
+/** Attribute value from an element's opening tag, or null. */
+function attrOf(block, name) {
+    const end = block.indexOf('>');
+    const open = end >= 0 ? block.slice(0, end + 1) : block;
+    const m = open.match(new RegExp(`\\b${name}="([^"]*)"`));
+    return m ? m[1] : null;
+}
+/**
+ * Extract the verbatim header / road / junction / controller blocks from an
+ * OpenDRIVE document. Returns null when the input does not look like
+ * OpenDRIVE XML. Regex block matching is safe here because none of these
+ * elements nest within themselves.
+ */
+export function extractOdrDocument(xml) {
+    if (!/<OpenDRIVE[\s>]/.test(xml))
+        return null;
+    const headerMatch = xml.match(/<header\b[^>]*(?:\/>|>[\s\S]*?<\/header>)/);
+    const roads = [];
+    for (const text of matchBlocks(xml, 'road')) {
+        const id = attrOf(text, 'id');
+        if (id === null)
+            continue;
+        const linkRoadRefs = [];
+        const linkJunctionRefs = [];
+        for (const tag of text.match(/<(?:predecessor|successor)\b[^>]*\/?>/g) ?? []) {
+            const elementType = tag.match(/\belementType="([^"]*)"/)?.[1];
+            const elementId = tag.match(/\belementId="([^"]*)"/)?.[1];
+            if (elementId === undefined)
+                continue;
+            if (elementType === 'road')
+                linkRoadRefs.push(elementId);
+            else if (elementType === 'junction')
+                linkJunctionRefs.push(elementId);
+        }
+        const signalIds = [];
+        for (const tag of text.match(/<signal\b[^>]*/g) ?? []) {
+            const sid = tag.match(/\bid="([^"]*)"/)?.[1];
+            if (sid !== undefined)
+                signalIds.push(sid);
+        }
+        roads.push({
+            id,
+            junction: attrOf(text, 'junction') ?? '-1',
+            text,
+            linkRoadRefs,
+            linkJunctionRefs,
+            signalIds,
+        });
+    }
+    const junctions = [];
+    for (const text of matchBlocks(xml, 'junction')) {
+        const id = attrOf(text, 'id');
+        if (id === null)
+            continue;
+        const memberRoadIds = [];
+        for (const tag of text.match(/<connection\b[^>]*/g) ?? []) {
+            for (const name of ['incomingRoad', 'connectingRoad']) {
+                const v = tag.match(new RegExp(`\\b${name}="([^"]*)"`))?.[1];
+                if (v !== undefined && !memberRoadIds.includes(v))
+                    memberRoadIds.push(v);
+            }
+        }
+        junctions.push({ id, text, memberRoadIds });
+    }
+    const controllers = [];
+    for (const text of matchBlocks(xml, 'controller')) {
+        const id = attrOf(text, 'id') ?? '';
+        const signalIds = [];
+        for (const tag of text.match(/<control\b[^>]*/g) ?? []) {
+            const sid = tag.match(/\bsignalId="([^"]*)"/)?.[1];
+            if (sid !== undefined)
+                signalIds.push(sid);
+        }
+        controllers.push({ id, text, signalIds });
+    }
+    const numericMax = (ids) => {
+        let max = 0;
+        for (const id of ids) {
+            if (/^\d+$/.test(id))
+                max = Math.max(max, parseInt(id, 10));
+        }
+        return max;
+    };
+    const signalRefIds = [];
+    for (const tag of xml.match(/<signalReference\b[^>]*/g) ?? []) {
+        const sid = tag.match(/\bid="([^"]*)"/)?.[1];
+        if (sid !== undefined)
+            signalRefIds.push(sid);
+    }
+    return {
+        headerText: headerMatch ? headerMatch[0] : null,
+        roads,
+        junctions,
+        controllers,
+        maxNumericElementId: numericMax([...roads.map(r => r.id), ...junctions.map(j => j.id)]),
+        maxNumericSignalId: numericMax([...roads.flatMap(r => r.signalIds), ...signalRefIds]),
+        maxNumericControllerId: numericMax(controllers.map(c => c.id)),
+    };
+}
+/**
+ * Rewrite the elementId of road-level <predecessor>/<successor> records
+ * according to `roadMapping` (elementType="road") and `junctionMapping`
+ * (elementType="junction"), each original id -> new id. Every byte outside
+ * the rewritten attribute values is preserved.
+ */
+export function rewriteRoadLinkTargets(text, roadMapping, junctionMapping = new Map()) {
+    if (roadMapping.size === 0 && junctionMapping.size === 0)
+        return text;
+    return text.replace(/<(?:predecessor|successor)\b[^>]*\/?>/g, tag => {
+        const elementType = tag.match(/\belementType="([^"]*)"/)?.[1];
+        const mapping = elementType === 'road' ? roadMapping : elementType === 'junction' ? junctionMapping : null;
+        if (!mapping || mapping.size === 0)
+            return tag;
+        return tag.replace(/(\belementId=")([^"]*)(")/, (m, pre, idv, post) => {
+            const repl = mapping.get(idv);
+            return repl !== undefined ? pre + repl + post : m;
+        });
+    });
+}
+//# sourceMappingURL=odrCarryThrough.js.map

package/dist/exporter/odrCarryThrough.js.map

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

@@ -0,0 +1,64 @@
+import type { OdrCubic, OdrGeometry, OdrRoad } from './opendriveParser';
+/** Pose on the reference line: inertial position + heading. */
+export interface GeomPose {
+    x: number;
+    y: number;
+    hdg: number;
+}
+/**
+ * Fresnel integrals in the normalized convention:
+ *   C(t) = ∫₀ᵗ cos(π u² / 2) du,   S(t) = ∫₀ᵗ sin(π u² / 2) du
+ *
+ * Implementation follows the classic two-regime scheme (see Abramowitz &
+ * Stegun §7.3 and Press et al., "Numerical Recipes", §6.9 "Fresnel Integrals"):
+ *   - |t| ≤ 1.5: power series expansion (A&S 7.3.11/7.3.13), which converges
+ *     rapidly in this range.
+ *   - |t| > 1.5: evaluation through the complex continued fraction for the
+ *     related complementary error function, computed with the modified Lentz
+ *     algorithm. Accuracy is limited only by EPS (~1e-12 here), far better
+ *     than the ~1e-8 needed for sub-millimeter road geometry.
+ *
+ * Both C and S are odd functions, so negative arguments are handled by sign.
+ */
+export declare function fresnel(t: number): {
+    C: number;
+    S: number;
+};
+/** Evaluate a cubic polynomial record at a local offset ds. */
+export declare function evalPoly3(rec: OdrCubic, ds: number): number;
+/** Derivative of a cubic polynomial record at a local offset ds. */
+export declare function evalPoly3Derivative(rec: OdrCubic, ds: number): number;
+/**
+ * Evaluate a plan-view geometry at offset `ds` (m) from its start.
+ * Returns the inertial position and heading.
+ */
+export declare function evalGeometry(geom: OdrGeometry, ds: number): GeomPose;
+export interface SampleReferenceLineOptions {
+    /** Maximum allowed chord deviation at the midpoint of a step (m). Default 0.05. */
+    maxChordErrorMeters?: number;
+    /** Maximum station spacing (m). Default 5. */
+    maxStepMeters?: number;
+    /**
+     * Additional stations that must appear in the output (e.g. laneSection
+     * starts, laneOffset breakpoints). Values outside [0, road.length] are
+     * clamped/ignored.
+     */
+    extraStations?: readonly number[];
+}
+export interface ReferenceSample {
+    /** Station along the road reference line (m). */
+    s: number;
+    x: number;
+    y: number;
+    hdg: number;
+}
+/**
+ * Adaptively sample a road's reference line.
+ *
+ * Stations always include s = 0, s = road.length, every plan-view geometry
+ * boundary, and the caller's `extraStations`. Between those, intervals are
+ * recursively bisected until the chord deviation at the interval midpoint is
+ * below `maxChordErrorMeters` and the step is at most `maxStepMeters`.
+ */
+export declare function sampleReferenceLine(road: OdrRoad, options?: SampleReferenceLineOptions): ReferenceSample[];
+//# sourceMappingURL=odrGeometry.d.ts.map

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

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