rework structure of everything

examples/09_unroutable_best_effort.py

@@ -1,58 +1,46 @@
-from inire.geometry.collision import CollisionEngine
-from inire.geometry.primitives import Port
-from inire.router.astar import AStarContext, AStarMetrics
-from inire.router.cost import CostEvaluator
-from inire.router.danger_map import DangerMap
-from inire.router.pathfinder import PathFinder
-from inire.utils.visualization import plot_routing_results
 from shapely.geometry import box
 
+from inire import CongestionOptions, NetSpec, ObjectiveWeights, Port, RoutingOptions, RoutingProblem, SearchOptions, route
+from inire.utils.visualization import plot_routing_results
+
+
 def main() -> None:
     print("Running Example 09: Best-Effort Under Tight Search Budget...")
 
-    # 1. Setup Environment
     bounds = (0, 0, 100, 100)
-    engine = CollisionEngine(clearance=2.0)
-
-    # A small obstacle cluster keeps the partial route visually interesting.
     obstacles = [
         box(35, 35, 45, 65),
         box(55, 35, 65, 65),
     ]
-    for obs in obstacles:
-        engine.add_static_obstacle(obs)
+    problem = RoutingProblem(
+        bounds=bounds,
+        nets=(NetSpec("budget_limited_net", Port(10, 50, 0), Port(85, 60, 180), width=2.0),),
+        static_obstacles=tuple(obstacles),
+    )
+    options = RoutingOptions(
+        search=SearchOptions(
+            node_limit=3,
+            bend_radii=(10.0,),
+        ),
+        objective=ObjectiveWeights(
+            bend_penalty=50.0,
+            sbend_penalty=150.0,
+        ),
+        congestion=CongestionOptions(warm_start=None),
+    )
 
-    danger_map = DangerMap(bounds=bounds)
-    danger_map.precompute(obstacles)
-
-    evaluator = CostEvaluator(engine, danger_map, bend_penalty=50.0, sbend_penalty=150.0)
-    # Keep the search budget intentionally tiny so the router returns a partial path.
-    context = AStarContext(evaluator, node_limit=3, bend_radii=[10.0])
-    metrics = AStarMetrics()
-
-    pf = PathFinder(context, metrics, warm_start=None)
-
-    # 2. Define Netlist: reaching the target requires additional turns the search budget cannot afford.
-    netlist = {
-        "budget_limited_net": (Port(10, 50, 0), Port(85, 60, 180)),
-    }
-    net_widths = {"budget_limited_net": 2.0}
-
-    # 3. Route
     print("Routing with a deliberately tiny node budget (should return a partial path)...")
-    results = pf.route_all(netlist, net_widths)
-
-    # 4. Check Results
-    res = results["budget_limited_net"]
-    if not res.reached_target:
-        print(f"Target not reached as expected. Partial path length: {len(res.path)} segments.")
+    run = route(problem, options=options)
+    result = run.results_by_net["budget_limited_net"]
+    if not result.reached_target:
+        print(f"Target not reached as expected. Partial path length: {len(result.path)} segments.")
     else:
         print("The route unexpectedly reached the target. Increase difficulty or reduce the node budget further.")
 
-    # 5. Visualize
-    fig, ax = plot_routing_results(results, obstacles, bounds, netlist=netlist)
+    fig, _ax = plot_routing_results(run.results_by_net, list(obstacles), bounds, netlist={"budget_limited_net": (Port(10, 50, 0), Port(85, 60, 180))})
     fig.savefig("examples/09_unroutable_best_effort.png")
     print("Saved plot to examples/09_unroutable_best_effort.png")
 
+
 if __name__ == "__main__":
     main()