Initial work on modularizing the feature detection and attribute estimation parts of the app for reuse across multiple apps

ARCHITECTURE_NOTES.md

@@ -0,0 +1,9 @@
+# Architecture Notes
+
+## Overview
+
+### Main App: iOSAccessAssessment
+
+### Shared Code: PointNMapShared
+
+Framework.

IOSAccessAssessment.xcodeproj/xcshareddata/xcschemes/IOSAccessAssessment.xcscheme

@@ -52,6 +52,17 @@
                ReferencedContainer = "container:IOSAccessAssessment.xcodeproj">
             </BuildableReference>
          </TestableReference>
+         <TestableReference
+            skipped = "NO"
+            parallelizable = "YES">
+            <BuildableReference
+               BuildableIdentifier = "primary"
+               BlueprintIdentifier = "A312FD842FA3391C0044808E"
+               BuildableName = "PointNMapSharedTests.xctest"
+               BlueprintName = "PointNMapSharedTests"
+               ReferencedContainer = "container:IOSAccessAssessment.xcodeproj">
+            </BuildableReference>
+         </TestableReference>
       </Testables>
    </TestAction>
    <LaunchAction

IOSAccessAssessment.xcodeproj/xcshareddata/xcschemes/IOSAccessAssessment_Debug.xcscheme

@@ -29,6 +29,19 @@
       selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
       shouldUseLaunchSchemeArgsEnv = "YES"
       shouldAutocreateTestPlan = "YES">
+      <Testables>
+         <TestableReference
+            skipped = "NO"
+            parallelizable = "YES">
+            <BuildableReference
+               BuildableIdentifier = "primary"
+               BlueprintIdentifier = "A312FD842FA3391C0044808E"
+               BuildableName = "PointNMapSharedTests.xctest"
+               BlueprintName = "PointNMapSharedTests"
+               ReferencedContainer = "container:IOSAccessAssessment.xcodeproj">
+            </BuildableReference>
+         </TestableReference>
+      </Testables>
    </TestAction>
    <LaunchAction
       buildConfiguration = "Debug"

IOSAccessAssessment/ARCamera/TestCameraManager.swift

@@ -9,6 +9,7 @@ import ARKit
 import RealityKit
 import Combine
 import simd
+import PointNMapShared
 
 final class TestCameraManager: NSObject, ObservableObject, TestCameraProcessingDelegate {
     var selectedClasses: [AccessibilityFeatureClass] = []
@@ -77,7 +78,7 @@ final class TestCameraManager: NSObject, ObservableObject, TestCameraProcessingD
         self.metalContext = metalContext
         self.isEnhancedAnalysisEnabled = isEnhancedAnalysisEnabled
         self.meshGPUSnapshotGenerator = MeshGPUSnapshotGenerator(device: metalContext.device)
-//        try setUpPreAllocatedPixelBufferPools(size: Constants.SelectedAccessibilityFeatureConfig.inputSize)
+//        try setUpPreAllocatedPixelBufferPools(size: SharedAppConstants.SelectedAccessibilityFeatureConfig.inputSize)
         self.cameraOutputImageCallback = cameraOutputImageCallback
         self.isConfigured = true
 
@@ -206,7 +207,7 @@ extension TestCameraManager {
         guard let segmentationPipeline = segmentationPipeline else {
             throw ARCameraManagerError.segmentationNotConfigured
         }
-        let croppedSize = Constants.SelectedAccessibilityFeatureConfig.inputSize
+        let croppedSize = SharedAppConstants.SelectedAccessibilityFeatureConfig.inputSize
         let imageOrientation: CGImagePropertyOrientation = CameraOrientation.getCGImageOrientationForInterface(
             currentInterfaceOrientation: interfaceOrientation
         )

IOSAccessAssessment/ARCamera/TestCameraViewController.swift

@@ -11,6 +11,7 @@ import ARKit
 import CoreImage
 import CoreImage.CIFilterBuiltins
 import simd
+import PointNMapShared
 
 @MainActor
 protocol TestCameraProcessingOutputConsumer: AnyObject {
@@ -331,7 +332,7 @@ final class TestCameraViewController: UIViewController, TestCameraProcessingOutp
     ) {
         var totalVertexCount = 0
         for accessibilityFeatureClass in accessibilityFeatureClasses {
-            guard Constants.SelectedAccessibilityFeatureConfig.classes.contains(accessibilityFeatureClass) else {
+            guard SharedAppConstants.SelectedAccessibilityFeatureConfig.classes.contains(accessibilityFeatureClass) else {
                 print("Invalid segmentation class: \(accessibilityFeatureClass)")
                 continue
             }

IOSAccessAssessment/AccessibilityFeature/AttributeEstimation/Extensions/IsExistingExtension.swift

@@ -0,0 +1,36 @@
+//
+//  IsExistingExtension.swift
+//  IOSAccessAssessment
+//
+//  Created by Himanshu on 4/30/26.
+//
+import PointNMapShared
+import CoreLocation
+import MapKit
+
+extension AttributeEstimationPipeline {
+    func processIsExistingRequest(
+        deviceLocation: CLLocationCoordinate2D,
+        mappingData: CurrentMappingData,
+        accessibilityFeature: MappedEditableAccessibilityFeature
+    ) {
+        /// Threshold needs to be in Map Units
+        let distanceThreshold = PointNMapConstants.WorkspaceConstants.fetchUpdateRadiusThresholdInMeters * MKMapPointsPerMeterAtLatitude(deviceLocation.latitude)
+        guard let LocationDetails = accessibilityFeature.locationDetails else {
+            accessibilityFeature.setIsExisting(false)
+            return
+        }
+        let matchedElement: (any OSWElement)? = mappingData.getMatchedFeature(
+            to: LocationDetails, featureClass: accessibilityFeature.accessibilityFeatureClass,
+            captureId: self.captureImageData?.id,
+            distanceThreshold: distanceThreshold
+        )
+        guard let matchedElement = matchedElement else {
+            accessibilityFeature.setIsExisting(false)
+            return
+        }
+        let isExisting = accessibilityFeature.accessibilityFeatureClass.kind.oswPolicy.isExistingFirst
+        accessibilityFeature.setIsExisting(isExisting)
+        accessibilityFeature.setOSWElement(oswElement: matchedElement)
+    }
+}

IOSAccessAssessment/AccessibilityFeature/Attributes/AccessibilityFeatureAttributeExtension.swift

@@ -0,0 +1,37 @@
+//
+//  AccessibilityFeatureAttribute.swift
+//  IOSAccessAssessment
+//
+//  Created by Himanshu on 11/9/25.
+//
+
+import Foundation
+import PointNMapShared
+
+/**
+    Enumeration defining various accessibility feature attributes, along with their metadata and value types.
+
+    - Note: One needs to be aware of the value types associated with each attribute. The valueType property is only meant for reference.
+ */
+extension AccessibilityFeatureAttribute {
+    /// TODO: Verify these OSM tag keys
+    public var osmTagKey: String {
+        switch self {
+        case .width: return "width"
+        case .runningSlope: return "incline"
+        case .crossSlope: return "cross_slope"
+        case .surfaceIntegrity: return "surface_integrity"
+        case .lidarDepth: return APIConstants.TagKeys.lidarDepthKey
+        case .latitudeDelta: return APIConstants.TagKeys.latitudeDeltaKey
+        case .longitudeDelta: return APIConstants.TagKeys.longitudeDeltaKey
+        case .widthLegacy: return "width_legacy"
+        case .runningSlopeLegacy: return "incline_legacy"
+        case .crossSlopeLegacy: return "cross_slope_legacy"
+        case .widthFromImage: return "width_from_image"
+        case .runningSlopeFromImage: return "running_slope_from_image"
+        case .crossSlopeFromImage: return "cross_slope_from_image"
+        default: return ""
+        }
+    }
+}
+

IOSAccessAssessment/AccessibilityFeature/Config/AccessibilityFeatureKindExtension.swift

@@ -0,0 +1,25 @@
+//
+//  AccessibilityFeatureKindExtension.swift
+//  IOSAccessAssessment
+//
+//  Created by Himanshu on 4/30/26.
+//
+
+import PointNMapShared
+
+/**
+ Extension to add mapping-related logic to AccessibilityFeatureKind.
+ */
+extension AccessibilityFeatureKind {
+    var oswPolicy: OSWPolicy {
+        switch self {
+        case .sidewalk: return OSWPolicy(oswElementClass: .Sidewalk, isExistingFirst: true)
+        case .building: return OSWPolicy(oswElementClass: .Building, isExistingFirst: false)
+        case .pole: return OSWPolicy(oswElementClass: .Pole, isExistingFirst: false)
+        case .trafficLight: return OSWPolicy(oswElementClass: .TrafficLight, isExistingFirst: false)
+        case .trafficSign: return OSWPolicy(oswElementClass: .TrafficSign, isExistingFirst: false)
+        case .vegetation: return OSWPolicy(oswElementClass: .Vegetation, isExistingFirst: false)
+        default: return OSWPolicy.default
+        }
+    }
+}

IOSAccessAssessment/AccessibilityFeature/Config/Others/CityscapesClassConfig.swift

@@ -6,7 +6,7 @@
 //
 import Foundation
 import CoreImage
-
+import PointNMapShared
 
 extension AccessibilityFeatureConfig {
     static let cityscapes: AccessibilityFeatureClassConfig = AccessibilityFeatureClassConfig(
@@ -33,14 +33,12 @@ extension AccessibilityFeatureConfig {
             AccessibilityFeatureClass(
                 id: "road", name: "Road", grayscaleValue: 7.0 / 255.0, labelValue: 7,
                 color: CIColor(red: 0.502, green: 0.251, blue: 0.502),
-                bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4),
-                oswPolicy: OSWPolicy(oswElementClass: .Sidewalk, isExistingFirst: true), // Temporarily set for testing
+                bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4)
             ),
             AccessibilityFeatureClass(
                 id: "sidewalk", name: "Sidewalk", grayscaleValue: 8.0 / 255.0, labelValue: 8,
                 color: CIColor(red: 0.957, green: 0.137, blue: 0.910),
-                bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4),
-                oswPolicy: OSWPolicy(oswElementClass: .Sidewalk, isExistingFirst: true), // Temporarily set for testing
+                bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4)
             ),
             AccessibilityFeatureClass(
                 id: "parking", name: "Parking", grayscaleValue: 9.0 / 255.0, labelValue: 9,

IOSAccessAssessment/AccessibilityFeature/Config/Others/CityscapesSubsetClassConfig.swift

@@ -6,7 +6,7 @@
 //
 import Foundation
 import CoreImage
-
+import PointNMapShared
 
 extension AccessibilityFeatureConfig {
     static let cityscapesSubset: AccessibilityFeatureClassConfig = AccessibilityFeatureClassConfig(
@@ -16,13 +16,11 @@ extension AccessibilityFeatureConfig {
                 id: "road", name: "Road", grayscaleValue: 0.0 / 255.0, labelValue: 0,
                 color: CIColor(red: 0.502, green: 0.251, blue: 0.502),
                 bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4),
-                oswPolicy: OSWPolicy(oswElementClass: .Sidewalk, isExistingFirst: true), // Temporarily set for testing
             ),
             AccessibilityFeatureClass(
                 id: "sidewalk", name: "Sidewalk", grayscaleValue: 1.0 / 255.0, labelValue: 1,
                 color: CIColor(red: 0.957, green: 0.137, blue: 0.910),
                 bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4),
-                oswPolicy: OSWPolicy(oswElementClass: .Sidewalk, isExistingFirst: true), // Temporarily set for testing
             ),
             AccessibilityFeatureClass(
                 id: "building", name: "Building", grayscaleValue: 2.0 / 255.0, labelValue: 2,

IOSAccessAssessment/AccessibilityFeature/Config/Others/CocoCustom35ClassConfig.swift

@@ -6,6 +6,7 @@
 //
 import Foundation
 import CoreImage
+import PointNMapShared
 
 extension AccessibilityFeatureConfig {
     static let cocoCustom35Config: AccessibilityFeatureClassConfig = AccessibilityFeatureClassConfig(
@@ -14,14 +15,12 @@ extension AccessibilityFeatureConfig {
             AccessibilityFeatureClass(
                 id: "road", name: "Road", grayscaleValue: 27.0 / 255.0, labelValue: 27,
                 color: CIColor(red: 0.502, green: 0.251, blue: 0.502),
-                bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4),
-                oswPolicy: OSWPolicy(oswElementClass: .Sidewalk, isExistingFirst: true), // Temporarily set for testing
+                bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4)
             ),
             AccessibilityFeatureClass(
                 id: "sidewalk", name: "Sidewalk", grayscaleValue: 22.0 / 255.0, labelValue: 22,
                 color: CIColor(red: 0.957, green: 0.137, blue: 0.910),
-                bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4),
-                oswPolicy: OSWPolicy(oswElementClass: .Sidewalk, isExistingFirst: true), // Temporarily set for testing
+                bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4)
             ),
             AccessibilityFeatureClass(
                 id: "building", name: "Building", grayscaleValue: 16.0 / 255.0, labelValue: 16,

IOSAccessAssessment/AccessibilityFeature/Config/Others/CocoCustom53ClassConfig.swift

@@ -6,8 +6,7 @@
 //
 import Foundation
 import CoreImage
-
-
+import PointNMapShared
 
 extension AccessibilityFeatureConfig {
     static let cocoCustom53Config: AccessibilityFeatureClassConfig = AccessibilityFeatureClassConfig(
@@ -16,14 +15,12 @@ extension AccessibilityFeatureConfig {
             AccessibilityFeatureClass(
                 id: "road", name: "Road", grayscaleValue: 41.0 / 255.0, labelValue: 41,
                 color: CIColor(red: 0.502, green: 0.251, blue: 0.502),
-                bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4),
-                oswPolicy: OSWPolicy(oswElementClass: .Sidewalk, isExistingFirst: true), // Temporarily set for testing
+                bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4)
             ),
             AccessibilityFeatureClass(
                 id: "sidewalk", name: "Sidewalk", grayscaleValue: 35.0 / 255.0, labelValue: 35,
                 color: CIColor(red: 0.957, green: 0.137, blue: 0.910),
-                bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4),
-                oswPolicy: OSWPolicy(oswElementClass: .Sidewalk, isExistingFirst: true), // Temporarily set for testing
+                bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4)
             ),
             AccessibilityFeatureClass(
                 id: "building", name: "Building", grayscaleValue: 19.0 / 255.0, labelValue: 19,

IOSAccessAssessment/AccessibilityFeature/Config/Others/VOCClassConfig.swift

@@ -6,6 +6,7 @@
 //
 import Foundation
 import CoreImage
+import PointNMapShared
 
 
 extension AccessibilityFeatureConfig {
@@ -60,7 +61,6 @@ extension AccessibilityFeatureConfig {
                 id: "person", name: "Person", grayscaleValue: 180.0 / 255.0, labelValue: 180,
                 color: CIColor(red: 0.750, green: 0.500, blue: 0.500),
                 bounds: CGRect(x: 0.0, y: 0.1, width: 1.0, height: 0.4),
-                oswPolicy: OSWPolicy(oswElementClass: .Sidewalk, isExistingFirst: true), // Temporarily set for testing
             ),
             AccessibilityFeatureClass(
                 id: "pottedplant", name: "PottedPlant", grayscaleValue: 192.0 / 255.0, labelValue: 192,

IOSAccessAssessment/AccessibilityFeature/Definitions/MappedAccessibilityFeature.swift

@@ -6,13 +6,14 @@
 //
 import Foundation
 import CoreLocation
+import PointNMapShared
 
 struct MappedAccessibilityFeature: AccessibilityFeatureProtocol, Sendable, CustomStringConvertible {
     let id: UUID
 
     let accessibilityFeatureClass: AccessibilityFeatureClass
 
-    var locationDetails: OSMLocationDetails?
+    var locationDetails: LocationDetails?
     var oswElement: any OSWElement
 
     var attributeValues: [AccessibilityFeatureAttribute: AccessibilityFeatureAttribute.Value?] = [:]
@@ -34,7 +35,7 @@ struct MappedAccessibilityFeature: AccessibilityFeatureProtocol, Sendable, Custo
     init(
         id: UUID = UUID(),
         accessibilityFeatureClass: AccessibilityFeatureClass,
-        locationDetails: OSMLocationDetails?,
+        locationDetails: LocationDetails?,
         attributeValues: [AccessibilityFeatureAttribute: AccessibilityFeatureAttribute.Value?] = [:],
         experimentalAttributeValues: [AccessibilityFeatureAttribute : AccessibilityFeatureAttribute.Value?] = [:],
         oswElement: any OSWElement
@@ -53,7 +54,7 @@ struct MappedAccessibilityFeature: AccessibilityFeatureProtocol, Sendable, Custo
         return lastCoordinate
     }
 
-    mutating func setLocationDetails(locationDetails: OSMLocationDetails) {
+    mutating func setLocationDetails(locationDetails: LocationDetails) {
         self.locationDetails = locationDetails
     }
 
@@ -84,6 +85,6 @@ struct MappedAccessibilityFeature: AccessibilityFeatureProtocol, Sendable, Custo
     }
 
     var description: String {
-        return "MappedAccessibilityFeature(id: \(id), class: \(accessibilityFeatureClass), location: \(String(describing: locationDetails)), attributes: \(attributeValues), oswElement: \(oswElement))"
+        return "MappedAccessibilityFeature(id: \(id), class: \(accessibilityFeatureClass), location: \(String(describing: locationDetails)), attributes: \(attributeValues))"
     }
 }