drawtonomy-cr

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CommonRoad connector for drawtonomy. 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

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

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.

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.

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.

drawtonomy-cr open

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 *.

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.

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

Development

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:

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.