OpenDRIVE import: expose signal facing as headingRad on traffic signs

packages/drawtonomy-sdk/__tests__/exporter/odrToShapes.test.ts

@@ -663,3 +663,39 @@ describe('esmini parking_demo (fixture)', () => {
     }
   )
 })
+
+describe('odrToShapes signal heading', () => {
+  const SIGNAL_HEADING_MAP = `<?xml version="1.0"?>
+<OpenDRIVE>
+  <header revMajor="1" revMinor="6"/>
+  <road name="r" length="100" id="1" junction="-1">
+    <planView><geometry s="0" x="0" y="0" hdg="0" length="100"><line/></geometry></planView>
+    <lanes>
+      <laneSection s="0">
+        <right>
+          <lane id="-1" type="driving" level="false"><width sOffset="0" a="3.5" b="0" c="0" d="0"/></lane>
+        </right>
+      </laneSection>
+    </lanes>
+    <signals>
+      <signal s="10" t="-2" id="s1" name="SgRMArrowLeft.flt" dynamic="no" orientation="+" type="-1" subtype="-1" hOffset="0"/>
+      <signal s="20" t="2" id="s2" name="SgRMArrowLeft.flt" dynamic="no" orientation="-" type="-1" subtype="-1" hOffset="0"/>
+      <signal s="30" t="-2" id="s3" name="stop" dynamic="no" orientation="+" type="206" subtype="-1" hOffset="0.5"/>
+      <signal s="40" t="-2" id="s4" name="untagged" dynamic="no" type="205" subtype="-1"/>
+    </signals>
+  </road>
+</OpenDRIVE>`
+
+  it('derives headingRad from reference heading, orientation and hOffset', () => {
+    const result = odrToShapes(parseOpenDriveXml(SIGNAL_HEADING_MAP))
+    const byId = new Map(result.trafficSigns.map(ts => [ts.attributes.odr_signal_id, ts]))
+    // Road runs along +x (heading 0).
+    expect(byId.get('s1')?.headingRad).toBeCloseTo(0, 9)
+    // orientation="-" flips by pi.
+    expect(byId.get('s2')?.headingRad).toBeCloseTo(Math.PI, 9)
+    // hOffset adds on top of the oriented direction.
+    expect(byId.get('s3')?.headingRad).toBeCloseTo(0.5, 9)
+    // Missing orientation/hOffset default to the reference direction.
+    expect(byId.get('s4')?.headingRad).toBeCloseTo(0, 9)
+  })
+})

packages/drawtonomy-sdk/__tests__/exporter/opendriveParser.test.ts

@@ -150,7 +150,7 @@ describe('parseOpenDriveXml', () => {
     const road = parseOpenDriveXml(SAMPLE).roads[0]
     expect(road.hasElevation).toBe(true)
     expect(road.signals).toEqual([
-      { id: 'sig1', s: 95, t: -6, type: '1000001', subtype: '-1', name: 'tl', dynamic: '', country: '', width: 0, height: 0, validity: [], userData: {} },
+      { id: 'sig1', s: 95, t: -6, type: '1000001', subtype: '-1', name: 'tl', dynamic: '', country: '', width: 0, height: 0, orientation: '', hOffset: 0, validity: [], userData: {} },
     ])
     expect(road.objects[0].type).toBe('crosswalk')
   })

packages/drawtonomy-sdk/src/exporter/odrToShapes.ts

@@ -615,6 +615,9 @@ export function odrToShapes(map: OdrMap, options: OdrToShapesOptions = {}): OdrI
       // Unit normal toward +t (left of the reference direction in ENU).
       const ex = pose.x - Math.sin(pose.hdg) * sig.t
       const ey = pose.y + Math.cos(pose.hdg) * sig.t
+      // World heading the signal applies to (ENU radians): reference-line
+      // heading, flipped for orientation="-", plus the signal's hOffset.
+      const headingRad = pose.hdg + (sig.orientation === '-' ? Math.PI : 0) + sig.hOffset
 
       const affected: string[] = []
       resolveAffectedLanes(road, sig.s, sig.validity, affected)
@@ -683,6 +686,7 @@ export function odrToShapes(map: OdrMap, options: OdrToShapesOptions = {}): OdrI
         affectedLaneIds: affected,
         stopLineId: materializeStopLine(sig.userData['stopLine']),
         attributes,
+        headingRad,
       }
       result.trafficSigns.push(data)
       convertedSignalCount++

packages/drawtonomy-sdk/src/exporter/opendriveParser.ts

@@ -136,6 +136,13 @@ export interface OdrSignal {
   /** Physical size (m); 0 when absent. */
   width: number
   height: number
+  /**
+   * Facing relative to the reference-line direction: "+" applies to traffic
+   * running in the positive s direction, "-" against it ("" when absent).
+   */
+  orientation: string
+  /** Heading offset in radians relative to the (oriented) s direction; 0 when absent. */
+  hOffset: number
   /** Lane ranges restricting which lanes the signal applies to (empty = all). */
   validity: OdrSignalValidity[]
   /** <userData code value> records attached to the signal (code -> value). */
@@ -686,6 +693,8 @@ function parseRoad(el: XmlNode): OdrRoad {
         country: sig.attrs.country ?? '',
         width: numAttr(sig, 'width', 0),
         height: numAttr(sig, 'height', 0),
+        orientation: sig.attrs.orientation ?? '',
+        hOffset: numAttr(sig, 'hOffset', 0),
         validity: parseValidity(sig),
         userData: parseUserData(sig),
       }))

packages/drawtonomy-sdk/src/exporter/osmToShapes.ts

@@ -115,6 +115,14 @@ export interface ImportedTrafficSign {
    * keeps a speed limit value (e.g. "50 km/h") when present.
    */
   attributes: Record<string, string>
+  /**
+   * World heading the signal applies to, in ENU radians (counter-clockwise
+   * from +x, y-up): reference-line heading at s, plus pi when
+   * orientation="-", plus hOffset. Only set by the OpenDRIVE import path;
+   * undefined for OSM/Lanelet2 sources. Renderers drawing surface markings
+   * (arrows etc.) should align the artwork with this direction.
+   */
+  headingRad?: number
 }
 
 export interface ImportedCrosswalk {