validator: judge road-link gaps by lane-boundary contact, not reference-line distance

packages/drawtonomy-sdk/__tests__/validator/geometry.test.ts

@@ -114,14 +114,23 @@ describe('checkGeometry', () => {
   })
 
   describe('road link contact', () => {
-    const pair = (bx: number, offsetA = 0, offsetB = 0): string => `<?xml version="1.0"?>
+    // Road A runs along y = 0 from x = 0 to x = 100. Road B starts at
+    // (bx, by). Each carries one 3.5 m right lane, so a road's lane boundaries
+    // sit at its centre line (the reference line shifted by its laneOffset)
+    // and 3.5 m to the right of it.
+    const pair = (
+      bx: number,
+      opts: { by?: number; offsetA?: string; offsetB?: string } = {}
+    ): string => {
+      const { by = 0, offsetA = 'a="0" b="0"', offsetB = 'a="0" b="0"' } = opts
+      return `<?xml version="1.0"?>
 <OpenDRIVE>
   <header revMajor="1" revMinor="6"/>
   <road name="a" length="100" id="1" junction="-1">
     <link><successor elementType="road" elementId="2" contactPoint="start"/></link>
     <planView><geometry s="0" x="0" y="0" hdg="0" length="100"><line/></geometry></planView>
     <lanes>
-      <laneOffset s="0" a="${offsetA}" b="0" c="0" d="0"/>
+      <laneOffset s="0" ${offsetA} c="0" d="0"/>
       <laneSection s="0">
         <center><lane id="0" type="none" level="false"/></center>
         <right><lane id="-1" type="driving" level="false"><width sOffset="0" a="3.5" b="0" c="0" d="0"/></lane></right>
@@ -130,16 +139,58 @@ describe('checkGeometry', () => {
   </road>
   <road name="b" length="100" id="2" junction="-1">
     <link><predecessor elementType="road" elementId="1" contactPoint="end"/></link>
-    <planView><geometry s="0" x="${bx}" y="0" hdg="0" length="100"><line/></geometry></planView>
+    <planView><geometry s="0" x="${bx}" y="${by}" hdg="0" length="100"><line/></geometry></planView>
     <lanes>
-      <laneOffset s="0" a="${offsetB}" b="0" c="0" d="0"/>
+      <laneOffset s="0" ${offsetB} c="0" d="0"/>
       <laneSection s="0">
         <center><lane id="0" type="none" level="false"/></center>
         <right><lane id="-1" type="driving" level="false"><width sOffset="0" a="3.5" b="0" c="0" d="0"/></lane></right>
       </laneSection>
     </lanes>
   </road>
 </OpenDRIVE>`
+    }
+
+    /**
+     * Two roads linked end-to-start, with each side's lane content injectable.
+     * Road A runs along y = 0 from x = 0 to x = 100; road B starts at
+     * (100, by). Defaults give both a single 3.5 m right lane, so their lane
+     * boundaries coincide and the pair is clean.
+     */
+    const twoRoads = (opts: {
+      by?: number
+      aLanes?: string
+      bLanes?: string
+      aSections?: string
+      bOffset?: string
+    }): string => {
+      const {
+        by = 0,
+        aLanes = '<lane id="-1" type="driving" level="false"><width sOffset="0" a="3.5" b="0" c="0" d="0"/></lane>',
+        bLanes = '<lane id="-1" type="driving" level="false"><width sOffset="0" a="3.5" b="0" c="0" d="0"/></lane>',
+        aSections,
+        bOffset = '',
+      } = opts
+      const aLaneXml =
+        aSections ??
+        `<laneSection s="0"><center><lane id="0" type="none" level="false"/></center><right>${aLanes}</right></laneSection>`
+      return `<?xml version="1.0"?>
+<OpenDRIVE>
+  <header revMajor="1" revMinor="6"/>
+  <road name="a" length="100" id="1" junction="-1">
+    <link><successor elementType="road" elementId="2" contactPoint="start"/></link>
+    <planView><geometry s="0" x="0" y="0" hdg="0" length="100"><line/></geometry></planView>
+    <lanes>${aLaneXml}</lanes>
+  </road>
+  <road name="b" length="100" id="2" junction="-1">
+    <link><predecessor elementType="road" elementId="1" contactPoint="end"/></link>
+    <planView><geometry s="0" x="100" y="${by}" hdg="0" length="100"><line/></geometry></planView>
+    <lanes>${bOffset}
+      <laneSection s="0"><center><lane id="0" type="none" level="false"/></center><right>${bLanes}</right></laneSection>
+    </lanes>
+  </road>
+</OpenDRIVE>`
+    }
 
     it('accepts roads that touch', () => {
       expect(geomRules(pair(100))).toEqual([])
@@ -153,10 +204,116 @@ describe('checkGeometry', () => {
       expect(validateOpenDrive(pair(150)).verdict).toBe('yellow')
     })
 
-    it('subtracts the lane-offset difference', () => {
-      // fabriksgatan's pattern: a connecting road with laneOffset 1.75 linking
-      // to a mainline with 0. The reference lines are 1.75 m apart by design.
-      expect(geomRules(pair(101.75, 1.75, 0))).toEqual([])
+    it('reports the lane distance, not the reference-line distance', () => {
+      const found = findingsFor(pair(150)).filter(f => f.rule === 'geom.road-link-gap')
+      expect(found[0].message).toContain('lane boundaries')
+      expect(found[0].message).toContain('50.000 m apart')
+    })
+
+    // The false positive this rule exists to avoid. Road B's reference line is
+    // pushed 5 m off road A's by a laneOffset that ramps along s, so a check
+    // comparing reference-line endpoints (even after subtracting the offset
+    // difference at the contact) sees a gap — while the lanes themselves meet
+    // exactly. Measured on a real map, every report of the old proxy was of
+    // this shape and every one had a true lane distance of 0.000 m.
+    it('accepts lanes that meet while the reference lines are far apart', () => {
+      // A: no offset, so its centre is y = 0 and its lane edge y = -3.5.
+      // B: reference line at y = -5, laneOffset ramping from +5 at s = 0, so
+      // its centre is also y = 0 at the contact and its lane edge y = -3.5.
+      const xml = pair(100, { by: -5, offsetB: 'a="5" b="-0.02"' })
+      expect(geomRules(xml)).toEqual([])
+    })
+
+    it('still detects lanes that are genuinely apart', () => {
+      // Same construction, but B's offset leaves its lanes 1.5 m off A's.
+      const xml = pair(100, { by: -5, offsetB: 'a="3.5" b="-0.02"' })
+      const found = findingsFor(xml).filter(f => f.rule === 'geom.road-link-gap')
+      expect(found.length).toBeGreaterThan(0)
+      expect(found[0].message).toContain('1.500 m apart')
+    })
+
+    it('honours a caller-supplied threshold', () => {
+      const xml = pair(100, { by: -5, offsetB: 'a="3.5" b="-0.02"' })
+      expect(geomRules(xml, { geometry: { roadLinkGapMeters: 2 } })).toEqual([])
+    })
+
+    // A lateral mismatch is not a gap. Lane counts and widths routinely differ
+    // across a link (merges, ramps and junction connectors: 91 of the 156
+    // links on one real map), so the rule asks whether the two cross sections
+    // *touch*, not whether they are congruent. What it must catch is the two
+    // sections being wholly apart, which is the soderleden defect.
+    it('accepts a link where the roads touch but the lane counts differ', () => {
+      const xml = twoRoads({
+        aLanes: '<lane id="-1" type="driving" level="false"><width sOffset="0" a="3.5" b="0" c="0" d="0"/></lane>',
+        bLanes:
+          '<lane id="-1" type="driving" level="false"><width sOffset="0" a="3.5" b="0" c="0" d="0"/></lane>' +
+          '<lane id="-2" type="driving" level="false"><width sOffset="0" a="3.5" b="0" c="0" d="0"/></lane>',
+      })
+      expect(geomRules(xml)).toEqual([])
+    })
+
+    it('measures a multi-section road at the section covering the contact', () => {
+      // Road A's lane widens to 5 m from s = 50, and road B is shifted so that
+      // it meets that widened edge. Reading A's *first* section would place its
+      // edge 1.5 m away and report a gap that does not exist.
+      const xml = twoRoads({
+        aSections:
+          '<laneSection s="0"><center><lane id="0" type="none" level="false"/></center>' +
+          '<right><lane id="-1" type="driving" level="false"><width sOffset="0" a="3.5" b="0" c="0" d="0"/></lane></right></laneSection>' +
+          '<laneSection s="50"><center><lane id="0" type="none" level="false"/></center>' +
+          '<right><lane id="-1" type="driving" level="false"><width sOffset="0" a="5.0" b="0" c="0" d="0"/></lane></right></laneSection>',
+        // B is a lone boundary pair 5 m below the reference line: its centre is
+        // at y = -5.0, exactly A's widened outer edge.
+        by: -5,
+        bLanes: '<lane id="-1" type="driving" level="false"><width sOffset="0" a="0" b="0" c="0" d="0"/></lane>',
+      })
+      expect(xml).toContain('laneSection s="50"')
+      expect(geomRules(xml)).toEqual([])
+
+      // The same B against a road whose lane never widens is 1.5 m short.
+      const narrow = twoRoads({
+        by: -5,
+        bLanes: '<lane id="-1" type="driving" level="false"><width sOffset="0" a="0" b="0" c="0" d="0"/></lane>',
+      })
+      const found = findingsFor(narrow).filter(f => f.rule === 'geom.road-link-gap')
+      expect(found.length).toBeGreaterThan(0)
+      expect(found[0].message).toContain('1.500 m apart')
+    })
+
+    it('evaluates the width record covering the contact, not the first', () => {
+      // One lane section, two <width> records: 3.5 m up to sOffset 50 and 6.0 m
+      // after it. The contact at s = 100 must read 6.0 m, putting A's outer
+      // edge at y = -6.0 where B's lone boundary sits.
+      const xml = twoRoads({
+        aLanes:
+          '<lane id="-1" type="driving" level="false">' +
+          '<width sOffset="0" a="3.5" b="0" c="0" d="0"/>' +
+          '<width sOffset="50" a="6.0" b="0" c="0" d="0"/>' +
+          '</lane>',
+        by: -6,
+        bLanes: '<lane id="-1" type="driving" level="false"><width sOffset="0" a="0" b="0" c="0" d="0"/></lane>',
+      })
+      expect(geomRules(xml)).toEqual([])
+
+      // Reading only the first record would have put A's edge at -3.5, which
+      // is where this B sits — and that must be reported as 2.5 m away.
+      const wrong = twoRoads({
+        aLanes:
+          '<lane id="-1" type="driving" level="false">' +
+          '<width sOffset="0" a="3.5" b="0" c="0" d="0"/>' +
+          '<width sOffset="50" a="6.0" b="0" c="0" d="0"/>' +
+          '</lane>',
+        by: -3.5,
+        bLanes: '<lane id="-1" type="driving" level="false"><width sOffset="0" a="0" b="0" c="0" d="0"/></lane>',
+      })
+      const found = findingsFor(wrong).filter(f => f.rule === 'geom.road-link-gap')
+      expect(found.length).toBeGreaterThan(0)
+      expect(found[0].message).toContain('2.500 m apart')
+    })
+
+    it('takes the nearer end when the link declares no contact point', () => {
+      const xml = pair(100).replace(' contactPoint="start"', '')
+      expect(geomRules(xml)).toEqual([])
     })
   })
 
@@ -177,7 +334,7 @@ describe('checkGeometry', () => {
       expect(DEFAULT_GEOMETRY_THRESHOLDS).toEqual({
         planViewGapMeters: 0.02,
         planViewHeadingRad: 0.005,
-        roadLinkGapMeters: 0.5,
+        roadLinkGapMeters: 0.3,
         lengthMismatchRatio: 0.01,
         negativeWidthToleranceMeters: 0.001,
       })