@drawtonomy/sdk 0.9.0 → 0.11.0

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 / sign / 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

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package/dist/exporter/odrGeometryFit.d.ts

@@ -0,0 +1,37 @@
+import type { OdrGeometry } from './opendriveParser';
+export interface FitPoint {
+    x: number;
+    y: number;
+}
+export interface PlanViewFitOptions {
+    /** Maximum position deviation between samples and the fit (m). Default 0.05. */
+    maxPosErrorMeters?: number;
+    /** Maximum end-heading deviation per segment (rad). Default 0.5 degrees. */
+    maxHdgErrorRad?: number;
+    /** Moving-median window (odd) for heading de-noising. Default 3; 1 disables. */
+    headingMedianWindow?: number;
+}
+/** Station + pose on the fitted reference line for one input sample. */
+export interface FittedSamplePose {
+    s: number;
+    x: number;
+    y: number;
+    hdg: number;
+}
+export interface PlanViewFit {
+    /** Fitted primitives with contiguous stations starting at s = 0. */
+    geometries: OdrGeometry[];
+    /** Fitted station and pose for every input point (duplicates share poses). */
+    samplePoses: FittedSamplePose[];
+    /** Total fitted arc length (m). */
+    length: number;
+}
+/**
+ * Fit a plan-view primitive sequence to a polyline of reference-line samples.
+ *
+ * The returned geometries are C1-continuous (each starts at the previous
+ * one's analytic end pose) except across degraded sharp-corner chords, and
+ * deviate from the input samples by at most the position tolerance.
+ */
+export declare function fitPlanView(points: readonly FitPoint[], options?: PlanViewFitOptions): PlanViewFit;
+//# sourceMappingURL=odrGeometryFit.d.ts.map

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

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