proto/loader

Dynamic .proto file loading using protobufjs.

loadProtoRoot

async function loadProtoRoot(protoFile: string): Promise<protobuf.Root>

Loads a .proto file and all its transitive imports from public/proto/, returning a resolved protobuf.Root.

Parameters

Name	Type	Description
protoFile	string	Filename only, e.g. 'map.proto' or 'topo_graph.proto'

Example

const root = await loadProtoRoot('map.proto')
const MapType = root.lookupType('apollo.hdmap.Map')

Path resolution

Apollo proto files use fully-qualified import paths such as:

import "modules/common_msgs/map_msgs/map_lane.proto";

The loader overrides root.resolvePath to strip the deep path and serve all files from /proto/:

root.resolvePath = (_origin, target) => {
  const filename = target.split('/').pop()!
  return `/proto/${filename}`
}

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getMapType

async function getMapType(): Promise<protobuf.Type>

Convenience wrapper — loads map.proto and returns the apollo.hdmap.Map type.

---

getGraphType

async function getGraphType(): Promise<protobuf.Type>

Convenience wrapper — loads topo_graph.proto and returns the apollo.routing.Graph type.

---

Proto files available

All files are in public/proto/:

File	Top-level type
map.proto	apollo.hdmap.Map
map_lane.proto	apollo.hdmap.Lane
map_road.proto	apollo.hdmap.Road
map_junction.proto	apollo.hdmap.Junction
map_signal.proto	apollo.hdmap.Signal
map_stop_sign.proto	apollo.hdmap.StopSign
map_crosswalk.proto	apollo.hdmap.Crosswalk
map_clear_area.proto	apollo.hdmap.ClearArea
map_speed_bump.proto	apollo.hdmap.SpeedBump
map_parking_space.proto	apollo.hdmap.ParkingSpace
map_overlap.proto	apollo.hdmap.Overlap
map_geometry.proto	apollo.hdmap.Curve, PointENU, etc.
map_id.proto	apollo.hdmap.Id
topo_graph.proto	apollo.routing.Graph
geometry.proto	apollo.common.PointENU