feat(ui-lvgl): contour lines on the vector map

osm_vector.py --dem adds contours from the Terrain Tiles on AWS Open Data
(SRTM, ~25 m; tools/maps/dem.py, standard library only: PNG decode,
smoothing, marching squares, line joining). Every 100 m from zoom 12,
every 20 m from zoom 15; the credit names the elevation source.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

docs/development/l2-roadmap.md

@@ -264,8 +264,11 @@ Ideas to come back to (2026-09-26):
       white band, less simplified; demanding / alpine paths dotted; labels of
       named points (places, peaks with height, huts, passes, springs...) as
       a layer over the tiles, placed by priority. No street names (raster).
-- [ ] Vector maps next: contours, a PBF pipeline for regions + download on
-      the device, styling.
+- [x] Contours on the vector map: osm_vector.py --dem (tools/maps/dem.py,
+      standard library: Terrain Tiles from AWS Open Data, SRTM ~25 m,
+      smoothed, marching squares); 100 m lines from z12, 20 m from z15.
+- [ ] Vector maps next: a PBF pipeline for regions + download on the
+      device, styling (anti-aliasing, dark theme).
 
 User list, second batch (2026-09-26):
 

examples/companion_radio/ui-lvgl/map/VectorTileProvider.h

@@ -47,7 +47,7 @@ public:
     return true;
   }
 
-  const char* attribution() const override { return _have ? "\xC2\xA9 OpenStreetMap contributors (ODbL)" : _fb.attribution(); }
+  const char* attribution() const override { return _have ? "\xC2\xA9 OpenStreetMap contributors (ODbL); contours: Terrain Tiles (SRTM, AWS Open Data)" : _fb.attribution(); }
   bool hasData() const { return _have; }
   uint32_t lastMs() const { return _last_ms; }
   // The last tile's time split: reading the data, areas, lines (ms).
@@ -131,7 +131,7 @@ private:
   }
 
   // Styles. Widths in px at zoom 14, scaled with the zoom.
-  enum : uint8_t { L_STREAM = 20, L_RIVER = 21, L_PATH_HARD = 29, L_PATH = 30, L_TRACK = 31, L_SERVICE = 32, L_TRUNK = 37,
+  enum : uint8_t { L_CONTOUR = 15, L_CONTOUR_IDX = 16, L_STREAM = 20, L_RIVER = 21, L_PATH_HARD = 29, L_PATH = 30, L_TRACK = 31, L_SERVICE = 32, L_TRUNK = 37,
                    L_ROUTE = 50, L_ROUTES = 51 };
   // Waymark colours of L_ROUTES (index 1.., osm_vector.py PALETTE).
   static uint16_t routeColour(int i) {
@@ -152,6 +152,8 @@ private:
   }
   static bool lineStyle(uint8_t c, uint16_t& col, float& w) {
     switch (c) {
+      case L_CONTOUR:     col = rgb(0xB89668); w = 1.0f; return true;
+      case L_CONTOUR_IDX: col = rgb(0x9A7448); w = 1.0f; return true;
       case L_STREAM: col = rgb(0x86B6D8); w = 1.0f; return true;
       case L_RIVER:  col = rgb(0x86B6D8); w = 3.0f; return true;
       case L_PATH:   col = rgb(0xA8502A); w = 1.2f; return true;
@@ -196,7 +198,8 @@ private:
       bool road = cls >= L_SERVICE && cls <= L_TRUNK;
       bool want = pass == 0 ? (cls < L_SERVICE) : pass == 3 ? (cls == L_ROUTE || cls == L_ROUTES) : road;
       if (!want) continue;
-      if (_z < 13 && (cls == L_PATH || cls == L_PATH_HARD || cls == 7)) continue;   // paths from z13, buildings from z14 (data)
+      if (_z < 13 && (cls == L_PATH || cls == L_PATH_HARD || cls == 7)) continue;
+      if (_z < 15 && cls == L_CONTOUR) continue;   // every 20 m: too dense further out   // paths from z13, buildings from z14 (data)
       // Off the drawn tile (with a margin for the widest line): not even read.
       const int32_t M = 12 * 16, S = TILE_PX * 16;
       if (sx(bb[2]) < -M || sx(bb[0]) > S + M || sy(bb[3]) < -M || sy(bb[1]) > S + M) continue;

tools/maps/dem.py

@@ -0,0 +1,201 @@
+"""Contour lines from a DEM, for osm_vector.py (standard library only).
+
+Elevation comes from the Terrain Tiles on AWS Open Data ("terrarium" PNGs:
+height = R * 256 + G + B / 256 - 32768 m; sources SRTM, GMTED, ETOPO1 and
+others, see https://github.com/tilezen/joerd/blob/master/docs/attribution.md),
+fetched once into a cache folder. The grid is smoothed a little, cut by
+marching squares at every `step` metres, and the pieces joined into lines in
+world coordinates (Web Mercator 0..1), each with its height.
+"""
+import math, os, struct, sys, urllib.request, zlib
+
+DEM_ZOOM = 12   # ~25 m a pixel at 49 N: what SRTM has
+URL = 'https://s3.amazonaws.com/elevation-tiles-prod/terrarium/{z}/{x}/{y}.png'
+ATTRIBUTION = 'elevation: Terrain Tiles (Mapzen / AWS Open Data; SRTM and others)'
+
+
+def read_png(data):
+    """8-bit RGB / RGBA, not interlaced -> (w, h, channels, bytes)."""
+    assert data[:8] == b'\x89PNG\r\n\x1a\n', 'not a PNG'
+    pos, idat, w = 8, bytearray(), 0
+    while pos < len(data):
+        n, kind = struct.unpack('>I4s', data[pos:pos + 8])
+        body = data[pos + 8:pos + 8 + n]
+        if kind == b'IHDR':
+            w, h, depth, ctype, _, _, interlace = struct.unpack('>IIBBBBB', body)
+            assert depth == 8 and ctype in (2, 6) and not interlace, 'unsupported PNG'
+            ch = 3 if ctype == 2 else 4
+        elif kind == b'IDAT':
+            idat += body
+        pos += 12 + n
+    raw = zlib.decompress(bytes(idat))
+    stride = w * ch
+    out = bytearray(stride * h)
+    prev = bytearray(stride)
+    for y in range(h):
+        f = raw[y * (stride + 1)]
+        line = bytearray(raw[y * (stride + 1) + 1:(y + 1) * (stride + 1)])
+        if f == 1:
+            for i in range(ch, stride):
+                line[i] = (line[i] + line[i - ch]) & 255
+        elif f == 2:
+            for i in range(stride):
+                line[i] = (line[i] + prev[i]) & 255
+        elif f == 3:
+            for i in range(stride):
+                line[i] = (line[i] + ((line[i - ch] if i >= ch else 0) + prev[i]) // 2) & 255
+        elif f == 4:
+            for i in range(stride):
+                a = line[i - ch] if i >= ch else 0
+                b = prev[i]
+                c = prev[i - ch] if i >= ch else 0
+                p = a + b - c
+                pa, pb, pc = abs(p - a), abs(p - b), abs(p - c)
+                line[i] = (line[i] + (a if pa <= pb and pa <= pc else b if pb <= pc else c)) & 255
+        out[y * stride:(y + 1) * stride] = line
+        prev = line
+    return w, h, ch, out
+
+
+def tile(cache, x, y):
+    path = os.path.join(cache, str(DEM_ZOOM), str(x), f'{y}.png')
+    if not os.path.exists(path):
+        os.makedirs(os.path.dirname(path), exist_ok=True)
+        req = urllib.request.Request(URL.format(z=DEM_ZOOM, x=x, y=y), headers={'User-Agent': 'meshcore-maps/1'})
+        with urllib.request.urlopen(req, timeout=60) as r, open(path + '.tmp', 'wb') as f:
+            f.write(r.read())
+        os.replace(path + '.tmp', path)
+    w, h, ch, px = read_png(open(path, 'rb').read())
+    return [[px[(j * w + i) * ch] * 256 + px[(j * w + i) * ch + 1] + px[(j * w + i) * ch + 2] / 256 - 32768
+             for i in range(w)] for j in range(h)]
+
+
+def grid(cache, x0, y0, x1, y1):
+    """Heights of the tiles x0..x1, y0..y1 stitched: rows of floats."""
+    rows = []
+    for ty in range(y0, y1 + 1):
+        band = [tile(cache, tx, ty) for tx in range(x0, x1 + 1)]
+        for j in range(256):
+            rows.append([v for t in band for v in t[j]])
+    return rows
+
+
+def smooth(g):
+    """3x3 box blur: the 1 px noise of the DEM makes wiggly lines."""
+    h, w = len(g), len(g[0])
+    out = [row[:] for row in g]
+    for j in range(1, h - 1):
+        a, b, c = g[j - 1], g[j], g[j + 1]
+        o = out[j]
+        for i in range(1, w - 1):
+            o[i] = (a[i - 1] + a[i] + a[i + 1] + b[i - 1] + b[i] + b[i + 1] + c[i - 1] + c[i] + c[i + 1]) / 9
+    return out
+
+
+def contours(g, step):
+    """Marching squares -> {height: [polyline of (col, row) grid points]}."""
+    h, w = len(g), len(g[0])
+    segs = {}   # height -> list of (edge key, point, edge key, point)
+    for j in range(h - 1):
+        r0, r1 = g[j], g[j + 1]
+        for i in range(w - 1):
+            a, b, c, d = r0[i], r0[i + 1], r1[i + 1], r1[i]   # corners clockwise from top-left
+            lo, hi = min(a, b, c, d), max(a, b, c, d)
+            k0, k1 = math.floor(lo / step) + 1, math.floor(hi / step)
+            if k0 > k1:
+                continue
+            for k in range(k0, k1 + 1):
+                v = k * step
+                # Crossings on the cell's edges: top, right, bottom, left.
+                cr = []
+                if (a < v) != (b < v):
+                    cr.append((('h', i, j), (i + (v - a) / (b - a), j)))
+                if (b < v) != (c < v):
+                    cr.append((('v', i + 1, j), (i + 1, j + (v - b) / (c - b))))
+                if (d < v) != (c < v):
+                    cr.append((('h', i, j + 1), (i + (v - d) / (c - d), j + 1)))
+                if (a < v) != (d < v):
+                    cr.append((('v', i, j), (i, j + (v - a) / (d - a))))
+                s = segs.setdefault(v, [])
+                if len(cr) == 2:
+                    s.append((cr[0], cr[1]))
+                elif len(cr) == 4:   # a saddle: pair by the centre's side
+                    centre = (a + b + c + d) / 4
+                    if (centre < v) == (a < v):
+                        s.append((cr[0], cr[1])); s.append((cr[2], cr[3]))
+                    else:
+                        s.append((cr[0], cr[3])); s.append((cr[1], cr[2]))
+    out = {}
+    for v, sl in segs.items():
+        at = {}   # edge key -> segments touching it
+        for n, (p, q) in enumerate(sl):
+            at.setdefault(p[0], []).append(n)
+            at.setdefault(q[0], []).append(n)
+        used = [False] * len(sl)
+        lines = []
+        for n in range(len(sl)):
+            if used[n]:
+                continue
+            used[n] = True
+            p, q = sl[n]
+            line = [p, q]
+            for grow_end in (True, False):   # extend from the end, then from the start
+                while True:
+                    key = line[-1][0] if grow_end else line[0][0]
+                    nxt = next((m for m in at[key] if not used[m]), None)
+                    if nxt is None:
+                        break
+                    used[nxt] = True
+                    a2, b2 = sl[nxt]
+                    far = b2 if a2[0] == key else a2
+                    if grow_end:
+                        line.append(far)
+                    else:
+                        line.insert(0, far)
+            lines.append([pt for _, pt in line])
+        out[v] = lines
+    return out
+
+
+def chaikin(pts):
+    """One round of corner cutting: softer lines than the grid's."""
+    if len(pts) < 3:
+        return pts
+    closed = pts[0] == pts[-1]
+    out = [] if closed else [pts[0]]
+    for (x0, y0), (x1, y1) in zip(pts, pts[1:]):
+        out.append((0.75 * x0 + 0.25 * x1, 0.75 * y0 + 0.25 * y1))
+        out.append((0.25 * x0 + 0.75 * x1, 0.25 * y0 + 0.75 * y1))
+    if closed:
+        out.append(out[0])
+    else:
+        out.append(pts[-1])
+    return out
+
+
+def contour_lines(cache, lon0, lat0, lon1, lat1, step):
+    """[(height, polyline in world coords)] for a box (degrees)."""
+    n = 1 << DEM_ZOOM
+
+    def wxy(lon, lat):
+        s = math.sin(math.radians(lat))
+        return (lon + 180.0) / 360.0 * n, (0.5 - math.log((1 + s) / (1 - s)) / (4 * math.pi)) * n
+
+    ax, ay = wxy(lon0, lat1)
+    bx, by = wxy(lon1, lat0)
+    x0, y0, x1, y1 = int(ax), int(ay), int(bx), int(by)
+    print(f'DEM: {(x1 - x0 + 1) * (y1 - y0 + 1)} tiles at z{DEM_ZOOM}', file=sys.stderr)
+    g = smooth(grid(cache, x0, y0, x1, y1))
+    # Only the box (the tiles reach past it): its pixels, plus one.
+    c0, r0 = max(0, int((ax - x0) * 256) - 1), max(0, int((ay - y0) * 256) - 1)
+    c1, r1 = min(len(g[0]), int((bx - x0) * 256) + 2), min(len(g), int((by - y0) * 256) + 2)
+    g = [row[c0:c1] for row in g[r0:r1]]
+    size = 256 * n
+    out = []
+    for v, lines in contours(g, step).items():
+        for line in lines:
+            if len(line) < 4:
+                continue
+            line = chaikin(line)
+            out.append((v, [((x0 * 256 + c0 + c + 0.5) / size, (y0 * 256 + r0 + r + 0.5) / size) for c, r in line]))
+    return out

tools/maps/osm_vector.py

@@ -7,7 +7,10 @@ marked hiking routes in their waymark colours, water, forest, meadows, rock,
 buildings; and named points for the labels (places, peaks, huts, springs...).
 No street names (the raster map has them).
 
-  tools/maps/osm_vector.py area.json [points.json] --out vmap/
+  tools/maps/osm_vector.py area.json [points.json] --out vmap/ [--dem dem-cache/]
+
+With --dem, contour lines too (tools/maps/dem.py: Terrain Tiles fetched into
+that folder): every 20 m (from zoom 15) with a darker one every 100 m.
 
 Three data zooms: 10 (drawn at z10-11), 12 (z12-13), 14 (z14-18); the device picks the
 data tile covering the tile it draws and scales it. Copy the output folder to
@@ -56,6 +59,8 @@ and the points (a second file):
 Map data (c) OpenStreetMap contributors, ODbL.
 """
 import argparse, json, math, os, struct, sys
+sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+import dem
 from collections import defaultdict
 
 EXTENT = 4096
@@ -69,6 +74,7 @@ L_PATH, L_TRACK, L_SERVICE, L_MINOR, L_TERTIARY, L_SECONDARY, L_PRIMARY, L_TRUNK
 L_PATH_HARD = 29   # a path of demanding / alpine difficulty (sac_scale)
 L_ROUTE = 50       # (old: one route, its RGB565 colour)
 L_ROUTES = 51      # the routes along a stretch
+L_CONTOUR, L_CONTOUR_IDX = 15, 16   # contour lines, every 20 m / 100 m
 
 HIGHWAY = {
     'path': L_PATH, 'footway': L_PATH, 'steps': L_PATH, 'bridleway': L_PATH, 'cycleway': L_PATH,
@@ -81,7 +87,8 @@ HIGHWAY = {
     'trunk': L_TRUNK, 'trunk_link': L_TRUNK, 'motorway': L_TRUNK, 'motorway_link': L_TRUNK,
 }
 # Lowest data zoom a class goes in (smaller ones would be clutter / weight).
-MIN_DZ = {P_BUILDING: 14, L_SERVICE: 14, L_PATH: 12, L_PATH_HARD: 12, L_TRACK: 12, L_STREAM: 12, L_MINOR: 12}
+MIN_DZ = {P_BUILDING: 14, L_SERVICE: 14, L_PATH: 12, L_PATH_HARD: 12, L_TRACK: 12, L_STREAM: 12, L_MINOR: 12,
+          L_CONTOUR: 14, L_CONTOUR_IDX: 12}
 HARD_SAC = ('demanding_mountain_hiking', 'alpine_hiking', 'demanding_alpine_hiking', 'difficult_alpine_hiking')
 
 # Points (labels): class, lowest data zoom.
@@ -147,7 +154,7 @@ def short_name(name):
 
 # Natural land cover (not roads, buildings, water): its edges are vague
 # anyway, so simplified harder -- most of the points are here.
-NATURAL = (P_MEADOW, P_SCRUB, P_FOREST, P_ROCK)
+NATURAL = (P_MEADOW, P_SCRUB, P_FOREST, P_ROCK, L_CONTOUR, L_CONTOUR_IDX)   # (and the contours: from a 25 m grid)
 NATURAL_TOL = 3
 
 WAYMARK = {   # osmc:symbol / colour -> RGB888
@@ -390,6 +397,9 @@ def main():
     ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
     ap.add_argument('json', nargs='+')
     ap.add_argument('--out', default='vmap')
+    ap.add_argument('--dem', metavar='CACHE', help='add contour lines; DEM tiles are kept in this folder')
+    ap.add_argument('--contour-step', type=int, default=20)
+    ap.add_argument('--index-step', type=int, default=100)
     a = ap.parse_args()
     elements = []
     for fn in a.json:
@@ -446,6 +456,14 @@ def main():
     for cols, ways in bundles.items():
         packed = sum(c << (4 * i) for i, c in enumerate(cols))
         feats.append((L_ROUTES, packed, 'line', join_lines(ways)))
+    if a.dem:
+        lons = [p['lon'] for e in elements for p in (e.get('geometry') or []) if p]
+        lats = [p['lat'] for e in elements for p in (e.get('geometry') or []) if p]
+        nc = 0
+        for v, line in dem.contour_lines(a.dem, min(lons), min(lats), max(lons), max(lats), a.contour_step):
+            feats.append((L_CONTOUR_IDX if round(v) % a.index_step == 0 else L_CONTOUR, 0, 'line', [line]))
+            nc += 1
+        print(f'{nc} contour lines', file=sys.stderr)
     print(f'{len(feats)} features, {len(way_routes)} route ways', file=sys.stderr)
 
     total_bytes = total_tiles = 0
@@ -539,6 +557,8 @@ def main():
     print(f'{len(points)} points', file=sys.stderr)
     with open(os.path.join(a.out, 'attribution.txt'), 'w') as f:
         f.write('© OpenStreetMap contributors (ODbL)\n')
+        if a.dem:
+            f.write(dem.ATTRIBUTION + '\n')
     print(f'{total_tiles} tiles, {total_bytes / 1024:.0f} KB', file=sys.stderr)