drawtonomy-commonroad 0.1.0__tar.gz

drawtonomy_commonroad-0.1.0/.gitignore

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+.venv/
+__pycache__/
+.pytest_cache/
+dist/
+*.egg-info/

drawtonomy_commonroad-0.1.0/LICENSE

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drawtonomy_commonroad-0.1.0/PKG-INFO

@@ -0,0 +1,205 @@
+Metadata-Version: 2.5
+Name: drawtonomy-commonroad
+Version: 0.1.0
+Summary: CommonRoad connector for drawtonomy: official checker verdict sidecars and planning traces
+Project-URL: Homepage, https://drawtonomy.com
+Project-URL: Documentation, https://docs.drawtonomy.com/integrations/commonroad/
+Project-URL: Source, https://github.com/kosuke55/drawtonomy/tree/main/packages/drawtonomy-commonroad
+Project-URL: Issues, https://github.com/kosuke55/drawtonomy/issues
+Author: drawtonomy
+License-Expression: Apache-2.0
+License-File: LICENSE
+Keywords: autonomous-driving,commonroad,motion-planning,scenario,simulation,verification
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering
+Requires-Python: >=3.11
+Requires-Dist: commonroad-io<2026,>=2024.1
+Provides-Extra: boundary
+Requires-Dist: triangle; extra == 'boundary'
+Provides-Extra: checker
+Requires-Dist: commonroad-drivability-checker>=2024.1; extra == 'checker'
+Requires-Dist: commonroad-io<2026,>=2024.1; extra == 'checker'
+Provides-Extra: test
+Requires-Dist: pytest>=8.0.0; extra == 'test'
+Description-Content-Type: text/markdown
+
+# drawtonomy-cr
+
+[日本語](README.ja.md)
+
+CommonRoad connector for [drawtonomy](https://drawtonomy.com). Bring your own planner.
+
+```
+scenario.xml  (CommonRoad 2020a, exported from drawtonomy)
+      |
+      v
+[your planner]  -- required --> solution.xml   (CommonRoadSolution, commonroad-io)
+      |
+      +-- optional --> solution.planning-trace.json   (drawtonomy_cr.trace.TraceWriter)
+      |
+      v (drawtonomy-cr post-processes)
+solution.verdict.json   (drawtonomy-verdict/1, the official checker's 4 verdicts)
+```
+
+The **solution XML is the only required file**. Everything else is optional: replay
+and drawtonomy's own collision badge work without them.
+
+## Install
+
+```bash
+pip install drawtonomy-commonroad                 # TraceWriter and `open`
+pip install "drawtonomy-commonroad[checker]"      # + verdict, needs Linux x86_64
+pip install "drawtonomy-commonroad[boundary]"     # + the road boundary check
+```
+
+The `[boundary]` extra adds Shewchuk's Triangle, which `boundary_collision`
+triangulates the road with. It is not a default dependency because Triangle is
+free for non-commercial use but needs the author's permission for commercial use.
+Without it `boundary_collision` is reported as SKIP rather than FAIL and the other
+three checks still run.
+
+## `drawtonomy-cr verdict`
+
+```bash
+drawtonomy-cr verdict scenario.xml solution.xml [-o out.json]
+```
+
+Runs the official checker's four tests (`obstacle_collision`, `boundary_collision`,
+`goal_reached`, `solution_feasible`) and writes the result as a
+`drawtonomy-verdict/1` sidecar next to the solution (`<solution stem>.verdict.json`
+when `-o` is omitted). Drop it into drawtonomy together with the solution to see
+PASS / FAIL badges, the colliding time steps and the obstacle involved.
+
+Exit codes: `0` when the sidecar was written (a FAIL verdict lives inside the JSON,
+it is not an error), `3` when the checker is not installed.
+
+Format: [`docs/verdict-sidecar.md`](docs/verdict-sidecar.md).
+
+## `drawtonomy_cr.trace.TraceWriter`
+
+A **planning trace** records what the planner intended at every replanning cycle,
+not just the trajectory it ended up driving. Only the planner's author can produce
+one, so it is a library, not a command.
+
+```python
+from drawtonomy_cr.trace import TraceWriter
+
+w = TraceWriter(dt=0.1, vehicle=dict(length=4.508, width=1.61, refToCenter=1.4227,
+                                     type="BMW_320i"))
+for cycle in my_planner_loop():
+    w.plan(t=cycle.t, states=cycle.trajectory)   # one entry per replanning cycle
+w.driven(executed_states)                        # what the ego actually drove
+w.write("solution.planning-trace.json", solution="solution.xml")
+```
+
+`vehicle` is the body the planner planned with. Only `length`, `width` and
+`refToCenter` are used; `type` is a free label shown in the replay tooltip. Use
+whatever body your planner uses, or omit `vehicle` to fall back to the size the ego
+was drawn with.
+
+`states` accepts commonroad-io `State` objects and plain
+`{"x":, "y":, "orientation":, "v":, "time_step":}` dicts alike.
+
+`write()` verifies two identities before writing anything: `driven` matches the
+solution's trajectory within 1e-6 m, and each plan's executed head matches `driven`
+at the same time steps. A failure raises instead of writing a trace that would
+replay differently from the solution it claims to describe.
+
+Format: [`docs/planning-trace-format.md`](docs/planning-trace-format.md).
+
+## `drawtonomy-cr open`
+
+```bash
+drawtonomy-cr open ./results            # a directory, or the scenario XML inside it
+```
+
+Sniffs the directory for the four files by **content** (`<commonRoad`,
+`<CommonRoadSolution`, `drawtonomy-verdict/1`, `drawtonomy-planning-trace-v1`),
+computes the verdict if it is missing and the checker is installed, serves the
+directory on `http://127.0.0.1:<port>`, prints the drawtonomy URL and opens it.
+
+```
+solution: planner_solution.xml
+serving /home/me/results at http://127.0.0.1:53101
+https://drawtonomy.com/?open=http%3A%2F%2F127.0.0.1%3A53101%2Fscenario.xml&solution=planner_solution.xml
+Open the URL in Chrome or Firefox (Safari blocks http://127.0.0.1 from an https page).
+Watching for changes. Press Ctrl+C to stop.
+```
+
+Then it **watches**: rerun your planner and the open tab reloads the solution,
+verdict and trace on its own (the scenario is not reloaded, the drawing is
+drawtonomy's side). The page subscribes to `/events` (Server-Sent Events); the
+CLI waits until a file's size and mtime hold still for 500 ms so a half-written
+solution is never served. A verdict the CLI computed is recomputed after every
+solution change; a verdict you placed yourself is never touched, so when only the
+solution changes the page drops the old checker result (it belonged to the previous
+solution) and shows it again once your verdict file is updated.
+
+Only `127.0.0.1` is bound, only `GET` / `HEAD` / `OPTIONS` are answered, only the
+served directory is reachable (`..` and absolute paths give 404), and
+`Access-Control-Allow-Origin` names one origin, never `*`.
+
+| flag | |
+|---|---|
+| `--solution` / `--verdict` / `--trace` | override the sniffed pick |
+| `--port N` | fixed port (default: a free one) |
+| `--no-browser` | print the URL without opening a browser |
+| `--copy` | print the file paths instead of serving them, for browsers that block `http://127.0.0.1` from an https page (Safari); drop those files onto drawtonomy.com |
+| `--app-origin URL` | the origin allowed to read the files (default `https://drawtonomy.com`) |
+
+Without the checker there is simply no verdict: one line says so and the scenario
+opens with drawtonomy's own collision badge.
+
+Protocol: [`docs/open-server-protocol.md`](docs/open-server-protocol.md).
+
+## Examples
+
+`examples/idm_planner/` is a one-file planner written for this package: the ego
+follows the centreline of its starting lanelet and IDM car-following sets its
+speed, with commonroad-io and numpy as the only dependencies. It is the smallest
+thing that can be connected, and its README explains the two modes it ships with.
+
+`examples/reactive_planner/` connects commonroad-reactive-planner end to end.
+Both are examples: replace the planner half with yours and keep the hand-off half.
+
+## Contract documents
+
+| document | what it specifies |
+|---|---|
+| [`docs/verdict-sidecar.md`](docs/verdict-sidecar.md) | the `drawtonomy-verdict/1` sidecar written by `drawtonomy-cr verdict` |
+| [`docs/planning-trace-format.md`](docs/planning-trace-format.md) | the `drawtonomy-planning-trace-v1` file written by `TraceWriter` |
+| [`docs/open-server-protocol.md`](docs/open-server-protocol.md) | what `drawtonomy-cr open` serves, the URL it prints, and the `/events` stream |
+
+## Development
+
+```bash
+pip install "drawtonomy-commonroad[test]"
+pytest
+```
+
+Tests that need the official checker are skipped where it cannot be installed, so
+the suite runs everywhere. No Node toolchain is involved.
+
+## When the checker cannot be installed
+
+If the `[checker]` extra cannot be installed on your machine, run the verdict step
+in a Linux x86_64 container:
+
+```bash
+docker run --rm --platform linux/amd64 -v "$PWD:/work" -w /work python:3.11 sh -c \
+  'pip install "drawtonomy-commonroad[checker]" &&
+   drawtonomy-cr verdict scenario.xml planner_solution.xml'
+```
+
+Without the checker, `drawtonomy-cr verdict` exits with code 3 and one line saying
+so, and `drawtonomy-cr open` serves the scenario without a verdict. `open` keeps
+watching for the verdict file under its expected name, so writing it from a
+container after `open` has started makes it appear in the tab.
+
+## License
+
+Apache-2.0. See [`LICENSE`](LICENSE).

drawtonomy_commonroad-0.1.0/README.ja.md

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+# drawtonomy-cr
+
+[English](README.md)
+
+[drawtonomy](https://drawtonomy.com) 用の CommonRoad コネクタ。プランナはご自身のものをお使いください。
+
+```
+scenario.xml  (CommonRoad 2020a, exported from drawtonomy)
+      |
+      v
+[your planner]  -- required --> solution.xml   (CommonRoadSolution, commonroad-io)
+      |
+      +-- optional --> solution.planning-trace.json   (drawtonomy_cr.trace.TraceWriter)
+      |
+      v (drawtonomy-cr post-processes)
+solution.verdict.json   (drawtonomy-verdict/1, the official checker's 4 verdicts)
+```
+
+**必須のファイルは solution XML だけ**です。それ以外はすべて任意で、リプレイと
+drawtonomy 自身の衝突バッジはそれらが無くても動作します。
+
+## インストール
+
+```bash
+pip install drawtonomy-commonroad                 # TraceWriter and `open`
+pip install "drawtonomy-commonroad[checker]"      # + verdict, needs Linux x86_64
+pip install "drawtonomy-commonroad[boundary]"     # + the road boundary check
+```
+
+`[boundary]` の extra は Shewchuk の Triangle を追加します。`boundary_collision` は
+これを使って道路を三角形分割します。Triangle は非商用利用は無償ですが商用利用には
+作者の許諾が必要なため、既定の依存関係には入れていません。無い場合 `boundary_collision`
+は FAIL ではなく SKIP として報告され、残り 3 つのチェックは実行されます。
+
+## `drawtonomy-cr verdict`
+
+```bash
+drawtonomy-cr verdict scenario.xml solution.xml [-o out.json]
+```
+
+公式チェッカの 4 つのテスト (`obstacle_collision`, `boundary_collision`,
+`goal_reached`, `solution_feasible`) を実行し、結果を `drawtonomy-verdict/1`
+サイドカーとして solution の隣に書き出します (`-o` を省略した場合は
+`<solution stem>.verdict.json`)。solution と一緒に drawtonomy へドロップすると、
+PASS / FAIL バッジ、衝突したタイムステップ、関与した障害物を確認できます。
+
+終了コード: サイドカーを書き出せたときは `0` (FAIL の verdict は JSON の中身であり、
+エラーではありません)、チェッカが未インストールのときは `3` です。
+
+フォーマット: [`docs/verdict-sidecar.ja.md`](docs/verdict-sidecar.ja.md)。
+
+## `drawtonomy_cr.trace.TraceWriter`
+
+**planning trace** は、最終的に走行した軌跡だけでなく、各再計画サイクルで
+プランナが何を意図していたかを記録します。これを生成できるのはプランナの作者だけ
+なので、コマンドではなくライブラリとして提供しています。
+
+```python
+from drawtonomy_cr.trace import TraceWriter
+
+w = TraceWriter(dt=0.1, vehicle=dict(length=4.508, width=1.61, refToCenter=1.4227,
+                                     type="BMW_320i"))
+for cycle in my_planner_loop():
+    w.plan(t=cycle.t, states=cycle.trajectory)   # one entry per replanning cycle
+w.driven(executed_states)                        # what the ego actually drove
+w.write("solution.planning-trace.json", solution="solution.xml")
+```
+
+`vehicle` はプランナが計画に使った車体です。使われるのは `length` / `width` /
+`refToCenter` だけで、`type` は再生時のツールチップに表示される自由なラベルです。
+お使いのプランナの車体をそのまま書くか、`vehicle` を省略すれば ego を描いたときの
+サイズにフォールバックします。
+
+`states` は commonroad-io の `State` オブジェクトでも、素の
+`{"x":, "y":, "orientation":, "v":, "time_step":}` の dict でも受け付けます。
+
+`write()` は何かを書き出す前に 2 つの同一性を検証します。`driven` が solution の
+軌跡と 1e-6 m 以内で一致すること、そして各 plan の実行済み先頭部分が同じ
+タイムステップの `driven` と一致することです。検証に失敗した場合は、記述対象と
+主張している solution と異なる再生になる trace を書き出さずに例外を送出します。
+
+フォーマット: [`docs/planning-trace-format.ja.md`](docs/planning-trace-format.ja.md)。
+
+## `drawtonomy-cr open`
+
+```bash
+drawtonomy-cr open ./results            # a directory, or the scenario XML inside it
+```
+
+ディレクトリを走査して 4 種類のファイルを**内容**で判別し (`<commonRoad`,
+`<CommonRoadSolution`, `drawtonomy-verdict/1`, `drawtonomy-planning-trace-v1`)、
+verdict が無くチェッカがインストールされていれば計算し、ディレクトリを
+`http://127.0.0.1:<port>` で配信し、drawtonomy の URL を表示してそれを開きます。
+
+```
+solution: planner_solution.xml
+serving /home/me/results at http://127.0.0.1:53101
+https://drawtonomy.com/?open=http%3A%2F%2F127.0.0.1%3A53101%2Fscenario.xml&solution=planner_solution.xml
+Open the URL in Chrome or Firefox (Safari blocks http://127.0.0.1 from an https page).
+Watching for changes. Press Ctrl+C to stop.
+```
+
+その後は**監視**を続けます。プランナを再実行すると、開いているタブが solution、
+verdict、trace を自動で再読み込みします (シナリオは再読み込みしません。描画は
+drawtonomy 側の担当です)。ページは `/events` (Server-Sent Events) を購読します。CLI は
+ファイルのサイズと mtime が 500 ms 静止するまで待つので、書き込み途中の solution が
+配信されることはありません。CLI が計算した verdict は solution が変わるたびに
+再計算されます。自分で置いた verdict は一切触られません。そのため solution だけが
+変わった場合、ページは古いチェッカ結果 (前の solution のものです) を取り下げ、
+verdict ファイルが更新され次第また表示します。
+
+バインドするのは `127.0.0.1` のみ、応答するのは `GET` / `HEAD` / `OPTIONS` のみ、
+到達できるのは配信対象ディレクトリのみ (`..` と絶対パスは 404)、
+`Access-Control-Allow-Origin` は 1 つの origin だけを指定し、`*` は決して使いません。
+
+| フラグ | |
+|---|---|
+| `--solution` / `--verdict` / `--trace` | 自動判別の結果を上書きする |
+| `--port N` | ポートを固定する (既定: 空きポート) |
+| `--no-browser` | ブラウザを開かず URL を表示するだけにする |
+| `--copy` | 配信せずファイルパスを表示する。https ページから `http://127.0.0.1` をブロックするブラウザ (Safari) 向け。表示されたファイルを drawtonomy.com にドロップする |
+| `--app-origin URL` | ファイルの読み取りを許可する origin (既定 `https://drawtonomy.com`) |
+
+チェッカが無い場合は単に verdict が付かないだけです。1 行その旨が表示され、
+シナリオは drawtonomy 自身の衝突バッジ付きで開きます。
+
+プロトコル: [`docs/open-server-protocol.ja.md`](docs/open-server-protocol.ja.md)。
+
+## サンプル
+
+`examples/idm_planner/` は、このパッケージ向けに書かれた 1 ファイルのプランナです。
+ego は開始した lanelet の中心線をたどり、速度は IDM の追従モデルが決めます。依存は
+commonroad-io と numpy だけです。接続できる最小の構成であり、同梱の 2 つのモードに
+ついては README で説明しています。
+
+`examples/reactive_planner/` は commonroad-reactive-planner を端から端まで
+つないだ例です。どちらもあくまで例なので、プランナ側をご自身のものに差し替え、
+受け渡し側はそのまま使ってください。
+
+## 契約ドキュメント
+
+| ドキュメント | 規定している内容 |
+|---|---|
+| [`docs/verdict-sidecar.ja.md`](docs/verdict-sidecar.ja.md) | `drawtonomy-cr verdict` が書き出す `drawtonomy-verdict/1` サイドカー |
+| [`docs/planning-trace-format.ja.md`](docs/planning-trace-format.ja.md) | `TraceWriter` が書き出す `drawtonomy-planning-trace-v1` ファイル |
+| [`docs/open-server-protocol.ja.md`](docs/open-server-protocol.ja.md) | `drawtonomy-cr open` が配信するもの、表示する URL、`/events` ストリーム |
+
+## 開発
+
+```bash
+pip install "drawtonomy-commonroad[test]"
+pytest
+```
+
+公式チェッカが必要なテストは、それをインストールできない環境ではスキップされる
+ので、テストスイートはどこでも実行できます。Node のツールチェーンは使いません。
+
+## checker を入れられない環境
+
+`commonroad-drivability-checker` が公開している wheel は manylinux x86_64 だけなので、
+`[checker]` の extra はすべての環境に入れられるわけではありません。入らない環境では、
+verdict の実行だけを Linux x86_64 のコンテナで行ってください。
+
+```bash
+docker run --rm --platform linux/amd64 -v "$PWD:/work" -w /work python:3.11 sh -c \
+  'pip install "drawtonomy-commonroad[checker]" &&
+   drawtonomy-cr verdict scenario.xml planner_solution.xml'
+```
+
+チェッカが無い場合、`drawtonomy-cr verdict` は終了コード 3 でその旨を 1 行だけ表示し、
+`drawtonomy-cr open` は verdict の無いままシナリオを配信します。`open` は想定される
+名前の verdict ファイルを監視し続けるので、`open` の起動後にコンテナから書き出せば、
+そのままタブに反映されます。
+
+## ライセンス
+
+Apache-2.0。[`LICENSE`](LICENSE) を参照してください。