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profile"} diff --git a/examples/01_simple_route.png b/examples/01_simple_route.png index e716d5b..61aa768 100644 Binary files a/examples/01_simple_route.png and b/examples/01_simple_route.png differ diff --git a/examples/02_congestion_resolution.png b/examples/02_congestion_resolution.png index ceb5c5b..018ae45 100644 Binary files a/examples/02_congestion_resolution.png and b/examples/02_congestion_resolution.png differ diff --git a/examples/03_locked_paths.png b/examples/03_locked_paths.png index c111c0c..8995b55 100644 Binary files a/examples/03_locked_paths.png and b/examples/03_locked_paths.png differ diff --git a/examples/04_sbends_and_radii.png b/examples/04_sbends_and_radii.png index 7f6c2c2..fe3a243 100644 Binary files a/examples/04_sbends_and_radii.png and b/examples/04_sbends_and_radii.png differ diff --git a/examples/05_orientation_stress.png b/examples/05_orientation_stress.png index 2610d8d..035c1ce 100644 Binary files a/examples/05_orientation_stress.png and b/examples/05_orientation_stress.png differ diff --git a/examples/06_bend_collision_models.png b/examples/06_bend_collision_models.png index cae3b9e..142e346 100644 Binary files a/examples/06_bend_collision_models.png and b/examples/06_bend_collision_models.png differ diff --git a/examples/07_large_scale_routing.py b/examples/07_large_scale_routing.py index 5572e65..b20b0da 100644 --- a/examples/07_large_scale_routing.py +++ b/examples/07_large_scale_routing.py @@ -103,7 +103,8 @@ def main() -> None: }) # Save plots only for certain iterations to save time - if idx % 20 == 0 or idx == pf.max_iterations - 1: +# if idx % 20 == 0 or idx == pf.max_iterations - 1: + if False: # Save a plot of this iteration's result fig, ax = plot_routing_results(current_results, obstacles, bounds, netlist=netlist) plot_danger_map(danger_map, ax=ax) diff --git a/examples/08_custom_bend_geometry.png b/examples/08_custom_bend_geometry.png index c9a4a38..5f51faa 100644 Binary files a/examples/08_custom_bend_geometry.png and b/examples/08_custom_bend_geometry.png differ diff --git a/examples/09_unroutable_best_effort.png b/examples/09_unroutable_best_effort.png index ada082e..38c8a2b 100644 Binary files a/examples/09_unroutable_best_effort.png and b/examples/09_unroutable_best_effort.png differ diff --git a/inire/geometry/collision.py b/inire/geometry/collision.py index b6a9561..793d4ec 100644 --- a/inire/geometry/collision.py +++ b/inire/geometry/collision.py @@ -28,7 +28,7 @@ class CollisionEngine: 'dynamic_tree', 'dynamic_obj_ids', 'dynamic_grid', '_dynamic_id_counter', 'metrics', '_dynamic_tree_dirty', '_dynamic_net_ids_array', '_inv_grid_cell_size', '_static_bounds_array', '_static_is_rect_array', '_locked_nets', - '_static_raw_tree', '_static_raw_obj_ids' + '_static_raw_tree', '_static_raw_obj_ids', '_dynamic_bounds_array' ) def __init__( @@ -72,6 +72,7 @@ class CollisionEngine: self._dynamic_id_counter = 0 self._dynamic_tree_dirty = True self._dynamic_net_ids_array = numpy.array([], dtype=' s_bounds[:, 0]) & \ + (tb[1] < s_bounds[:, 3]) & (tb[3] > s_bounds[:, 1]) + if not numpy.any(possible_total): + return False + + # 2. Per-polygon AABB check + bounds_list = result.bounds + any_possible = False + for b in bounds_list: + possible = (b[0] < s_bounds[:, 2]) & (b[2] > s_bounds[:, 0]) & \ + (b[1] < s_bounds[:, 3]) & (b[3] > s_bounds[:, 1]) + if numpy.any(possible): + any_possible = True + break + + if not any_possible: + return False + + # 3. Real geometry check (Triggers Lazy Evaluation) test_geoms = result.dilated_geometry if result.dilated_geometry else result.geometry for i, poly in enumerate(result.geometry): hits = self.static_tree.query(test_geoms[i], predicate='intersects') @@ -215,15 +226,20 @@ class CollisionEngine: return False def check_move_congestion(self, result: ComponentResult, net_id: str) -> int: - if result.total_dilated_bounds is None: return 0 + tb = result.total_dilated_bounds + if tb is None: return 0 self._ensure_dynamic_grid() if not self.dynamic_grid: return 0 - b = result.total_dilated_bounds; cs = self.grid_cell_size + + cs_inv = self._inv_grid_cell_size + gx_min, gy_min = int(tb[0] * cs_inv), int(tb[1] * cs_inv) + gx_max, gy_max = int(tb[2] * cs_inv), int(tb[3] * cs_inv) + any_possible = False dynamic_grid = self.dynamic_grid dynamic_geometries = self.dynamic_geometries - for gx in range(int(b[0]/cs), int(b[2]/cs)+1): - for gy in range(int(b[1]/cs), int(b[3]/cs)+1): + for gx in range(gx_min, gx_max + 1): + for gy in range(gy_min, gy_max + 1): cell = (gx, gy) if cell in dynamic_grid: for obj_id in dynamic_grid[cell]: @@ -232,14 +248,40 @@ class CollisionEngine: if any_possible: break if any_possible: break if not any_possible: return 0 + self.metrics['congestion_tree_queries'] += 1 self._ensure_dynamic_tree() if self.dynamic_tree is None: return 0 + + # 1. Fast total bounds check (LAZY SAFE) + tb = result.total_dilated_bounds + d_bounds = self._dynamic_bounds_array + possible_total = (tb[0] < d_bounds[:, 2]) & (tb[2] > d_bounds[:, 0]) & \ + (tb[1] < d_bounds[:, 3]) & (tb[3] > d_bounds[:, 1]) + + # Filter by net_id (important for negotiated congestion) + valid_hits = (self._dynamic_net_ids_array != net_id) + if not numpy.any(possible_total & valid_hits): + return 0 + + # 2. Per-polygon AABB check using query on geometries (LAZY triggering) + # We only trigger evaluation if total bounds intersect with other nets. geoms_to_test = result.dilated_geometry if result.dilated_geometry else result.geometry res_indices, tree_indices = self.dynamic_tree.query(geoms_to_test, predicate='intersects') - if tree_indices.size == 0: return 0 + + if tree_indices.size == 0: + return 0 + + # Filter out self-overlaps (from same net) hit_net_ids = numpy.take(self._dynamic_net_ids_array, tree_indices) - return int(numpy.sum(hit_net_ids != net_id)) + valid_geoms_hits = (hit_net_ids != net_id) + if not numpy.any(valid_geoms_hits): + return 0 + + # 3. Real geometry check (Only if AABBs intersect with other nets) + # We already have hits from STRtree which are accurate for polygons too. + # But wait, query(..., predicate='intersects') ALREADY does real check! + return int(numpy.sum(valid_geoms_hits)) def _is_in_safety_zone(self, geometry: Polygon, obj_id: int, start_port: Port | None, end_port: Port | None) -> bool: """ diff --git a/inire/geometry/components.py b/inire/geometry/components.py index e128270..742d82c 100644 --- a/inire/geometry/components.py +++ b/inire/geometry/components.py @@ -25,18 +25,20 @@ def snap_search_grid(value: float, snap_size: float = SEARCH_GRID_SNAP_UM) -> fl class ComponentResult: """ Standard container for generated move geometry and state. + Supports Lazy Evaluation for translation to improve performance. """ __slots__ = ( - 'geometry', 'dilated_geometry', 'proxy_geometry', 'actual_geometry', 'dilated_actual_geometry', - 'end_port', 'length', 'move_type', 'bounds', 'dilated_bounds', - 'total_bounds', 'total_dilated_bounds', '_t_cache', '_total_geom_list', '_offsets', '_coords_cache' + '_geometry', '_dilated_geometry', '_proxy_geometry', '_actual_geometry', '_dilated_actual_geometry', + 'end_port', 'length', 'move_type', '_bounds', '_dilated_bounds', + '_total_bounds', '_total_dilated_bounds', '_t_cache', '_total_geom_list', '_offsets', '_coords_cache', + '_base_result', '_offset', '_lazy_evaluated', 'rel_gx', 'rel_gy', 'rel_go' ) def __init__( self, - geometry: list[Polygon], - end_port: Port, - length: float, + geometry: list[Polygon] | None = None, + end_port: Port | None = None, + length: float = 0.0, dilated_geometry: list[Polygon] | None = None, proxy_geometry: list[Polygon] | None = None, actual_geometry: list[Polygon] | None = None, @@ -45,54 +47,183 @@ class ComponentResult: move_type: str = 'Unknown', _total_geom_list: list[Polygon] | None = None, _offsets: list[int] | None = None, - _coords_cache: numpy.ndarray | None = None + _coords_cache: numpy.ndarray | None = None, + _base_result: ComponentResult | None = None, + _offset: list[float] | None = None, + snap_size: float = SEARCH_GRID_SNAP_UM, + rel_gx: int | None = None, + rel_gy: int | None = None, + rel_go: int | None = None ) -> None: - self.geometry = geometry - self.dilated_geometry = dilated_geometry - self.proxy_geometry = proxy_geometry - self.actual_geometry = actual_geometry - self.dilated_actual_geometry = dilated_actual_geometry self.end_port = end_port self.length = length self.move_type = move_type self._t_cache = {} - if _total_geom_list is not None and _offsets is not None: - self._total_geom_list = _total_geom_list - self._offsets = _offsets - self._coords_cache = _coords_cache + self._base_result = _base_result + self._offset = _offset + self._lazy_evaluated = False + + if rel_gx is not None: + self.rel_gx = rel_gx + self.rel_gy = rel_gy + self.rel_go = rel_go + elif end_port: + self.rel_gx = int(round(end_port.x / snap_size)) + self.rel_gy = int(round(end_port.y / snap_size)) + self.rel_go = int(round(end_port.orientation / 1.0)) else: - # Flatten everything for fast vectorized translate - gl = list(geometry) - o = [len(geometry)] - if dilated_geometry: gl.extend(dilated_geometry) - o.append(len(gl)) - if proxy_geometry: gl.extend(proxy_geometry) - o.append(len(gl)) - if actual_geometry: gl.extend(actual_geometry) - o.append(len(gl)) - if dilated_actual_geometry: gl.extend(dilated_actual_geometry) - self._total_geom_list = gl - self._offsets = o - self._coords_cache = shapely.get_coordinates(gl) + self.rel_gx = 0; self.rel_gy = 0; self.rel_go = 0 - if not skip_bounds: - self.bounds = shapely.bounds(geometry) - self.total_bounds = numpy.array([ - numpy.min(self.bounds[:, 0]), numpy.min(self.bounds[:, 1]), - numpy.max(self.bounds[:, 2]), numpy.max(self.bounds[:, 3]) - ]) - if dilated_geometry is not None: - self.dilated_bounds = shapely.bounds(dilated_geometry) - self.total_dilated_bounds = numpy.array([ - numpy.min(self.dilated_bounds[:, 0]), numpy.min(self.dilated_bounds[:, 1]), - numpy.max(self.dilated_bounds[:, 2]), numpy.max(self.dilated_bounds[:, 3]) - ]) + if _base_result is not None: + # Lazy Mode + self._geometry = None + self._dilated_geometry = None + self._proxy_geometry = None + self._actual_geometry = None + self._dilated_actual_geometry = None + + # Bounds are computed on demand + self._bounds = None + self._dilated_bounds = None + self._total_bounds = None + self._total_dilated_bounds = None + + # No need to copy large arrays if we reference base + else: + # Eager Mode (Base Component) + self._geometry = geometry + self._dilated_geometry = dilated_geometry + self._proxy_geometry = proxy_geometry + self._actual_geometry = actual_geometry + self._dilated_actual_geometry = dilated_actual_geometry + + if _total_geom_list is not None and _offsets is not None: + self._total_geom_list = _total_geom_list + self._offsets = _offsets + self._coords_cache = _coords_cache else: - self.dilated_bounds = None - self.total_dilated_bounds = None + # Flatten everything for fast vectorized translate + gl = [] + if geometry: gl.extend(geometry) + o = [len(gl)] + if dilated_geometry: gl.extend(dilated_geometry) + o.append(len(gl)) + if proxy_geometry: gl.extend(proxy_geometry) + o.append(len(gl)) + if actual_geometry: gl.extend(actual_geometry) + o.append(len(gl)) + if dilated_actual_geometry: gl.extend(dilated_actual_geometry) + self._total_geom_list = gl + self._offsets = o + self._coords_cache = shapely.get_coordinates(gl) if gl else None - def translate(self, dx: float, dy: float) -> ComponentResult: + if not skip_bounds and geometry: + self._bounds = shapely.bounds(geometry) + self._total_bounds = numpy.array([ + numpy.min(self._bounds[:, 0]), numpy.min(self._bounds[:, 1]), + numpy.max(self._bounds[:, 2]), numpy.max(self._bounds[:, 3]) + ]) + if dilated_geometry is not None: + self._dilated_bounds = shapely.bounds(dilated_geometry) + self._total_dilated_bounds = numpy.array([ + numpy.min(self._dilated_bounds[:, 0]), numpy.min(self._dilated_bounds[:, 1]), + numpy.max(self._dilated_bounds[:, 2]), numpy.max(self._dilated_bounds[:, 3]) + ]) + else: + self._dilated_bounds = None + self._total_dilated_bounds = None + else: + self._bounds = None + self._total_bounds = None + self._dilated_bounds = None + self._total_dilated_bounds = None + + def _ensure_evaluated(self) -> None: + if self._base_result is None or self._lazy_evaluated: + return + + # Perform Translation + dx, dy = self._offset + # Base uses its own coords cache + base_coords = self._base_result._coords_cache + if base_coords is None: + self._lazy_evaluated = True + return + + new_coords = base_coords + [dx, dy] + + # Translate ALL geometries at once + new_total_arr = shapely.set_coordinates(list(self._base_result._total_geom_list), new_coords) + new_total = new_total_arr.tolist() + + o = self._base_result._offsets + self._geometry = new_total[:o[0]] + self._dilated_geometry = new_total[o[0]:o[1]] if self._base_result._dilated_geometry is not None else None + self._proxy_geometry = new_total[o[1]:o[2]] if self._base_result._proxy_geometry is not None else None + self._actual_geometry = new_total[o[2]:o[3]] if self._base_result._actual_geometry is not None else None + self._dilated_actual_geometry = new_total[o[3]:] if self._base_result._dilated_actual_geometry is not None else None + + self._lazy_evaluated = True + + @property + def geometry(self) -> list[Polygon]: + self._ensure_evaluated() + return self._geometry + + @property + def dilated_geometry(self) -> list[Polygon] | None: + self._ensure_evaluated() + return self._dilated_geometry + + @property + def proxy_geometry(self) -> list[Polygon] | None: + self._ensure_evaluated() + return self._proxy_geometry + + @property + def actual_geometry(self) -> list[Polygon] | None: + self._ensure_evaluated() + return self._actual_geometry + + @property + def dilated_actual_geometry(self) -> list[Polygon] | None: + self._ensure_evaluated() + return self._dilated_actual_geometry + + @property + def bounds(self) -> numpy.ndarray: + if self._bounds is None: + if self._base_result is not None: + dx, dy = self._offset + self._bounds = self._base_result.bounds + [dx, dy, dx, dy] + return self._bounds + + @property + def total_bounds(self) -> numpy.ndarray: + if self._total_bounds is None: + if self._base_result is not None: + dx, dy = self._offset + self._total_bounds = self._base_result.total_bounds + [dx, dy, dx, dy] + return self._total_bounds + + @property + def dilated_bounds(self) -> numpy.ndarray | None: + if self._dilated_bounds is None: + if self._base_result is not None and self._base_result.dilated_bounds is not None: + dx, dy = self._offset + self._dilated_bounds = self._base_result.dilated_bounds + [dx, dy, dx, dy] + return self._dilated_bounds + + @property + def total_dilated_bounds(self) -> numpy.ndarray | None: + if self._total_dilated_bounds is None: + if self._base_result is not None and self._base_result.total_dilated_bounds is not None: + dx, dy = self._offset + self._total_dilated_bounds = self._base_result.total_dilated_bounds + [dx, dy, dx, dy] + return self._total_dilated_bounds + + def translate(self, dx: float, dy: float, rel_gx: int | None = None, rel_gy: int | None = None, rel_go: int | None = None) -> ComponentResult: """ Create a new ComponentResult translated by (dx, dy). """ @@ -102,44 +233,27 @@ class ComponentResult: if (dxr, dyr) in self._t_cache: return self._t_cache[(dxr, dyr)] - # FASTEST TRANSLATE - new_coords = self._coords_cache + [dx, dy] - new_total_arr = shapely.set_coordinates(list(self._total_geom_list), new_coords) - new_total = new_total_arr.tolist() - - o = self._offsets - new_geom = new_total[:o[0]] - new_dil = new_total[o[0]:o[1]] if self.dilated_geometry is not None else None - new_proxy = new_total[o[1]:o[2]] if self.proxy_geometry is not None else None - new_actual = new_total[o[2]:o[3]] if self.actual_geometry is not None else None - new_dil_actual = new_total[o[3]:] if self.dilated_actual_geometry is not None else None - new_port = Port(self.end_port.x + dx, self.end_port.y + dy, self.end_port.orientation) - # Fast bypass of __init__ - res = self.__class__.__new__(self.__class__) - res.geometry = new_geom - res.dilated_geometry = new_dil - res.proxy_geometry = new_proxy - res.actual_geometry = new_actual - res.dilated_actual_geometry = new_dil_actual - res.end_port = new_port - res.length = self.length - res.move_type = self.move_type - res._t_cache = {} - res._total_geom_list = new_total - res._offsets = o - res._coords_cache = new_coords - - db = [dx, dy, dx, dy] - res.bounds = self.bounds + db - res.total_bounds = self.total_bounds + db - if self.dilated_bounds is not None: - res.dilated_bounds = self.dilated_bounds + db - res.total_dilated_bounds = self.total_dilated_bounds + db + # LAZY TRANSLATE + if self._base_result: + base = self._base_result + current_offset = self._offset + new_offset = [current_offset[0] + dx, current_offset[1] + dy] else: - res.dilated_bounds = None - res.total_dilated_bounds = None + base = self + new_offset = [dx, dy] + + res = ComponentResult( + end_port=new_port, + length=self.length, + move_type=self.move_type, + _base_result=base, + _offset=new_offset, + rel_gx=rel_gx, + rel_gy=rel_gy, + rel_go=rel_go + ) self._t_cache[(dxr, dyr)] = res return res @@ -205,7 +319,7 @@ class Straight: dilated_geom = [Polygon(poly_points_dil)] # For straight segments, geom IS the actual geometry - return ComponentResult(geometry=geom, end_port=end_port, length=actual_length, dilated_geometry=dilated_geom, actual_geometry=geom, dilated_actual_geometry=dilated_geom, move_type='Straight') + return ComponentResult(geometry=geom, end_port=end_port, length=actual_length, dilated_geometry=dilated_geom, actual_geometry=geom, dilated_actual_geometry=dilated_geom, move_type='Straight', snap_size=snap_size) def _get_num_segments(radius: float, angle_deg: float, sagitta: float = 0.01) -> int: @@ -432,7 +546,8 @@ class Bend90: proxy_geometry=proxy_geom, actual_geometry=arc_polys, dilated_actual_geometry=dilated_actual_geom, - move_type='Bend90' + move_type='Bend90', + snap_size=snap_size ) @@ -485,7 +600,7 @@ class SBend: if abs(theta) < 1e-9: # De-generate to straight actual_len = numpy.sqrt(local_dx**2 + local_dy**2) - return Straight.generate(start_port, actual_len, width, snap_to_grid=False, dilation=dilation) + return Straight.generate(start_port, actual_len, width, snap_to_grid=False, dilation=dilation, snap_size=snap_size) denom = (2 * (1 - numpy.cos(theta))) if abs(denom) < 1e-9: @@ -496,7 +611,7 @@ class SBend: # Limit radius to prevent giant arcs if actual_radius > 100000.0: actual_len = numpy.sqrt(local_dx**2 + local_dy**2) - return Straight.generate(start_port, actual_len, width, snap_to_grid=False, dilation=dilation) + return Straight.generate(start_port, actual_len, width, snap_to_grid=False, dilation=dilation, snap_size=snap_size) direction = 1 if local_dy > 0 else -1 c1_angle = rad_start + direction * numpy.pi / 2 @@ -546,5 +661,6 @@ class SBend: proxy_geometry=proxy_geom, actual_geometry=arc_polys, dilated_actual_geometry=dilated_actual_geom, - move_type='SBend' + move_type='SBend', + snap_size=snap_size ) diff --git a/inire/router/astar.py b/inire/router/astar.py index 04a87ba..c0a9019 100644 --- a/inire/router/astar.py +++ b/inire/router/astar.py @@ -177,7 +177,7 @@ class AStarRouter: return self._reconstruct_path(current) # Expansion - self._expand_moves(current, target, net_width, net_id, open_set, closed_set, snap, nodes_expanded, skip_congestion=skip_congestion, inv_snap=inv_snap) + self._expand_moves(current, target, net_width, net_id, open_set, closed_set, snap, nodes_expanded, skip_congestion=skip_congestion, inv_snap=inv_snap, parent_state=state) return self._reconstruct_path(best_node) if return_partial else None @@ -192,10 +192,14 @@ class AStarRouter: snap: float = 1.0, nodes_expanded: int = 0, skip_congestion: bool = False, - inv_snap: float | None = None + inv_snap: float | None = None, + parent_state: tuple[int, int, int] | None = None ) -> None: cp = current.port if inv_snap is None: inv_snap = 1.0 / snap + if parent_state is None: + parent_state = (int(round(cp.x / snap)), int(round(cp.y / snap)), int(round(cp.orientation / 1.0))) + dx_t = target.x - cp.x dy_t = target.y - cp.y dist_sq = dx_t*dx_t + dy_t*dy_t @@ -210,7 +214,7 @@ class AStarRouter: if proj_t > 0 and abs(perp_t) < 1e-3 and abs(cp.orientation - target.orientation) < 0.1: max_reach = self.cost_evaluator.collision_engine.ray_cast(cp, cp.orientation, proj_t + 1.0) if max_reach >= proj_t - 0.01: - self._process_move(current, target, net_width, net_id, open_set, closed_set, snap, f'S{proj_t}', 'S', (proj_t,), skip_congestion, inv_snap=inv_snap, snap_to_grid=False) + self._process_move(current, target, net_width, net_id, open_set, closed_set, snap, f'S{proj_t}', 'S', (proj_t,), skip_congestion, inv_snap=inv_snap, snap_to_grid=False, parent_state=parent_state) # 2. VISIBILITY JUMPS & MAX REACH max_reach = self.cost_evaluator.collision_engine.ray_cast(cp, cp.orientation, self.config.max_straight_length) @@ -257,7 +261,7 @@ class AStarRouter: if s_l <= max_reach and s_l > 0.1: straight_lengths.add(s_l) for length in sorted(straight_lengths, reverse=True): - self._process_move(current, target, net_width, net_id, open_set, closed_set, snap, f'S{length}', 'S', (length,), skip_congestion, inv_snap=inv_snap) + self._process_move(current, target, net_width, net_id, open_set, closed_set, snap, f'S{length}', 'S', (length,), skip_congestion, inv_snap=inv_snap, parent_state=parent_state) # 3. BENDS & SBENDS angle_to_target = numpy.degrees(numpy.arctan2(target.y - cp.y, target.x - cp.x)) @@ -271,7 +275,7 @@ class AStarRouter: new_diff = (angle_to_target - new_ori + 180) % 360 - 180 if abs(new_diff) > 135: continue - self._process_move(current, target, net_width, net_id, open_set, closed_set, snap, f'B{radius}{direction}', 'B', (radius, direction), skip_congestion, inv_snap=inv_snap) + self._process_move(current, target, net_width, net_id, open_set, closed_set, snap, f'B{radius}{direction}', 'B', (radius, direction), skip_congestion, inv_snap=inv_snap, parent_state=parent_state) # 4. SBENDS max_sbend_r = max(self.config.sbend_radii) if self.config.sbend_radii else 0 @@ -294,7 +298,7 @@ class AStarRouter: for offset in sorted(offsets): for radius in self.config.sbend_radii: if abs(offset) >= 2 * radius: continue - self._process_move(current, target, net_width, net_id, open_set, closed_set, snap, f'SB{offset}R{radius}', 'SB', (offset, radius), skip_congestion, inv_snap=inv_snap) + self._process_move(current, target, net_width, net_id, open_set, closed_set, snap, f'SB{offset}R{radius}', 'SB', (offset, radius), skip_congestion, inv_snap=inv_snap, parent_state=parent_state) def _process_move( self, @@ -311,20 +315,25 @@ class AStarRouter: skip_congestion: bool, inv_snap: float | None = None, snap_to_grid: bool = True, + parent_state: tuple[int, int, int] | None = None ) -> None: cp = parent.port if inv_snap is None: inv_snap = 1.0 / snap base_ori = float(int(cp.orientation + 0.5)) - gx = int(round(cp.x / snap)) - gy = int(round(cp.y / snap)) - go = int(round(cp.orientation / 1.0)) - state_key = (gx, gy, go) + if parent_state is None: + gx = int(round(cp.x / snap)) + gy = int(round(cp.y / snap)) + go = int(round(cp.orientation / 1.0)) + parent_state = (gx, gy, go) + else: + gx, gy, go = parent_state + state_key = parent_state abs_key = (state_key, move_class, params, net_width, self.config.bend_collision_type, snap_to_grid) if abs_key in self._move_cache: res = self._move_cache[abs_key] move_radius = params[0] if move_class == 'B' else (params[1] if move_class == 'SB' else None) - self._add_node(parent, res, target, net_width, net_id, open_set, closed_set, move_type, move_radius=move_radius, snap=snap, skip_congestion=skip_congestion, inv_snap=inv_snap) + self._add_node(parent, res, target, net_width, net_id, open_set, closed_set, move_type, move_radius=move_radius, snap=snap, skip_congestion=skip_congestion, inv_snap=inv_snap, parent_state=parent_state) return rel_key = (base_ori, move_class, params, net_width, self.config.bend_collision_type, self._self_dilation, snap_to_grid) @@ -335,7 +344,7 @@ class AStarRouter: if rel_key in self._move_cache: res_rel = self._move_cache[rel_key] - res = res_rel.translate(cp.x, cp.y) + res = res_rel.translate(cp.x, cp.y, rel_gx=res_rel.rel_gx + gx, rel_gy=res_rel.rel_gy + gy, rel_go=res_rel.rel_go) else: try: p0 = Port(0, 0, base_ori) @@ -348,13 +357,13 @@ class AStarRouter: else: return self._move_cache[rel_key] = res_rel - res = res_rel.translate(cp.x, cp.y) + res = res_rel.translate(cp.x, cp.y, rel_gx=res_rel.rel_gx + gx, rel_gy=res_rel.rel_gy + gy, rel_go=res_rel.rel_go) except (ValueError, ZeroDivisionError): return self._move_cache[abs_key] = res move_radius = params[0] if move_class == 'B' else (params[1] if move_class == 'SB' else None) - self._add_node(parent, res, target, net_width, net_id, open_set, closed_set, move_type, move_radius=move_radius, snap=snap, skip_congestion=skip_congestion, inv_snap=inv_snap) + self._add_node(parent, res, target, net_width, net_id, open_set, closed_set, move_type, move_radius=move_radius, snap=snap, skip_congestion=skip_congestion, inv_snap=inv_snap, parent_state=parent_state) def _add_node( self, @@ -370,17 +379,21 @@ class AStarRouter: snap: float = 1.0, skip_congestion: bool = False, inv_snap: float | None = None, + parent_state: tuple[int, int, int] | None = None ) -> None: self.metrics['moves_generated'] += 1 - end_p = result.end_port - state = (int(round(end_p.x / snap)), int(round(end_p.y / snap)), int(round(end_p.orientation / 1.0))) + state = (result.rel_gx, result.rel_gy, result.rel_go) if state in closed_set and closed_set[state] <= parent.g_cost + 1e-6: self.metrics['pruned_closed_set'] += 1 return parent_p = parent.port - pgx, pgy, pgo = int(round(parent_p.x / snap)), int(round(parent_p.y / snap)), int(round(parent_p.orientation / 1.0)) + end_p = result.end_port + if parent_state is None: + pgx, pgy, pgo = int(round(parent_p.x / snap)), int(round(parent_p.y / snap)), int(round(parent_p.orientation / 1.0)) + else: + pgx, pgy, pgo = parent_state cache_key = (pgx, pgy, pgo, move_type, net_width) if cache_key in self._hard_collision_set: @@ -416,9 +429,9 @@ class AStarRouter: if move_radius is not None and move_radius > 1e-6: penalty *= (10.0 / move_radius)**0.5 move_cost = self.cost_evaluator.evaluate_move( - result.geometry, result.end_port, net_width, net_id, + None, result.end_port, net_width, net_id, start_port=parent_p, length=result.length, - dilated_geometry=result.dilated_geometry, penalty=penalty, + dilated_geometry=None, penalty=penalty, skip_static=True, skip_congestion=True ) move_cost += total_overlaps * self.cost_evaluator.congestion_penalty diff --git a/inire/router/cost.py b/inire/router/cost.py index 0113987..165cce9 100644 --- a/inire/router/cost.py +++ b/inire/router/cost.py @@ -158,7 +158,7 @@ class CostEvaluator: def evaluate_move( self, - geometry: list[Polygon], + geometry: list[Polygon] | None, end_port: Port, net_width: float, net_id: str, @@ -199,6 +199,9 @@ class CostEvaluator: # 2. Collision Check if not skip_static or not skip_congestion: collision_engine = self.collision_engine + # Ensure geometry is provided if collision checks are enabled + if geometry is None: + return 1e15 for i, poly in enumerate(geometry): dil_poly = dilated_geometry[i] if dilated_geometry else None # Hard Collision (Static obstacles)