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consistency and speed

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This commit is contained in:
Jan Petykiewicz 2026-03-09 02:26:27 -07:00
commit c9bb8d6469
5 changed files with 169 additions and 184 deletions
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206
inire/geometry/collision.py
View file

@ -1,145 +1,141 @@
from __future__ import annotations from __future__ import annotations
from typing import TYPE_CHECKING from typing import TYPE_CHECKING, Literal
import rtree import rtree
from shapely.geometry import Polygon from shapely.geometry import Point, Polygon
from shapely.prepared import prep from shapely.prepared import prep
if TYPE_CHECKING: if TYPE_CHECKING:
from shapely.prepared import PreparedGeometry from shapely.prepared import PreparedGeometry
from inire.geometry.primitives import Port from inire.geometry.primitives import Port
class CollisionEngine: class CollisionEngine:
"""Manages spatial queries for collision detection.""" """Manages spatial queries for collision detection with unified dilation logic."""
def __init__(self, clearance: float, max_net_width: float = 2.0, safety_zone_radius: float = 0.0021) -> None: def __init__(self, clearance: float, max_net_width: float = 2.0, safety_zone_radius: float = 0.0021) -> None:
self.clearance = clearance self.clearance = clearance
self.max_net_width = max_net_width self.max_net_width = max_net_width
self.safety_zone_radius = safety_zone_radius self.safety_zone_radius = safety_zone_radius
self.static_obstacles = rtree.index.Index()
# To store geometries for precise checks # Static obstacles: store raw geometries to avoid double-dilation
self.obstacle_geometries: dict[int, Polygon] = {} # ID -> Polygon self.static_index = rtree.index.Index()
self.prepared_obstacles: dict[int, PreparedGeometry] = {} # ID -> PreparedGeometry self.static_geometries: dict[int, Polygon] = {} # ID -> Polygon
self._id_counter = 0 self.static_prepared: dict[int, PreparedGeometry] = {} # ID -> PreparedGeometry
self._static_id_counter = 0
# Dynamic paths for multi-net congestion # Dynamic paths for multi-net congestion
self.dynamic_paths = rtree.index.Index() self.dynamic_index = rtree.index.Index()
# obj_id -> (net_id, geometry) # obj_id -> (net_id, raw_geometry)
self.path_geometries: dict[int, tuple[str, Polygon]] = {} self.dynamic_geometries: dict[int, tuple[str, Polygon]] = {}
self._dynamic_id_counter = 0 self._dynamic_id_counter = 0
def add_static_obstacle(self, polygon: Polygon, pre_dilate: bool = True) -> None: def add_static_obstacle(self, polygon: Polygon) -> None:
"""Add a static obstacle to the engine.""" """Add a static obstacle (raw geometry) to the engine."""
_ = pre_dilate # Keep for API compatibility obj_id = self._static_id_counter
obj_id = self._id_counter self._static_id_counter += 1
self._id_counter += 1
self.obstacle_geometries[obj_id] = polygon self.static_geometries[obj_id] = polygon
self.prepared_obstacles[obj_id] = prep(polygon) self.static_prepared[obj_id] = prep(polygon)
self.static_index.insert(obj_id, polygon.bounds)
# Index the bounding box of the original polygon
# We query with dilated moves, so original bounds are enough
self.static_obstacles.insert(obj_id, polygon.bounds)
def add_path(self, net_id: str, geometry: list[Polygon]) -> None: def add_path(self, net_id: str, geometry: list[Polygon]) -> None:
"""Add a net's routed path to the dynamic R-Tree.""" """Add a net's routed path (raw geometry) to the dynamic index."""
# Dilate by clearance/2 for congestion
dilation = self.clearance / 2.0
for poly in geometry: for poly in geometry:
dilated = poly.buffer(dilation)
obj_id = self._dynamic_id_counter obj_id = self._dynamic_id_counter
self._dynamic_id_counter += 1 self._dynamic_id_counter += 1
self.path_geometries[obj_id] = (net_id, dilated) self.dynamic_geometries[obj_id] = (net_id, poly)
self.dynamic_paths.insert(obj_id, dilated.bounds) self.dynamic_index.insert(obj_id, poly.bounds)
def remove_path(self, net_id: str) -> None: def remove_path(self, net_id: str) -> None:
"""Remove a net's path from the dynamic R-Tree.""" """Remove a net's path from the dynamic index."""
to_remove = [obj_id for obj_id, (nid, _) in self.path_geometries.items() if nid == net_id] to_remove = [obj_id for obj_id, (nid, _) in self.dynamic_geometries.items() if nid == net_id]
for obj_id in to_remove: for obj_id in to_remove:
nid, dilated = self.path_geometries.pop(obj_id) nid, poly = self.dynamic_geometries.pop(obj_id)
self.dynamic_paths.delete(obj_id, dilated.bounds) self.dynamic_index.delete(obj_id, poly.bounds)
def lock_net(self, net_id: str) -> None: def lock_net(self, net_id: str) -> None:
"""Move a net's dynamic path to static obstacles permanently.""" """Move a net's dynamic path to static obstacles permanently."""
to_move = [obj_id for obj_id, (nid, _) in self.path_geometries.items() if nid == net_id] to_move = [obj_id for obj_id, (nid, _) in self.dynamic_geometries.items() if nid == net_id]
for obj_id in to_move: for obj_id in to_move:
nid, dilated = self.path_geometries.pop(obj_id) nid, poly = self.dynamic_geometries.pop(obj_id)
self.dynamic_paths.delete(obj_id, dilated.bounds) self.dynamic_index.delete(obj_id, poly.bounds)
self.add_static_obstacle(poly)
# Add to static (already dilated for clearance)
new_static_id = self._id_counter
self._id_counter += 1
self.obstacle_geometries[new_static_id] = dilated
self.prepared_obstacles[new_static_id] = prep(dilated)
self.static_obstacles.insert(new_static_id, dilated.bounds)
def count_congestion(self, geometry: Polygon, net_id: str) -> int:
"""Count how many other nets collide with this geometry."""
dilation = self.clearance / 2.0
test_poly = geometry.buffer(dilation)
return self.count_congestion_prebuffered(test_poly, net_id)
def count_congestion_prebuffered(self, dilated_geometry: Polygon, net_id: str) -> int:
"""Count how many other nets collide with this pre-dilated geometry."""
candidates = self.dynamic_paths.intersection(dilated_geometry.bounds)
count = 0
for obj_id in candidates:
other_net_id, other_poly = self.path_geometries[obj_id]
if other_net_id != net_id and dilated_geometry.intersects(other_poly):
count += 1
return count
def is_collision( def is_collision(
self, self,
geometry: Polygon, geometry: Polygon,
net_width: float, net_width: float = 2.0,
start_port: Port | None = None, start_port: Port | None = None,
end_port: Port | None = None, end_port: Port | None = None
) -> bool: ) -> bool:
"""Check if a geometry (e.g. a Move) collides with static obstacles.""" """Alias for check_collision(buffer_mode='static') for backward compatibility."""
_ = net_width # Width is already integrated into engine dilation settings _ = net_width
dilation = self.clearance / 2.0 res = self.check_collision(geometry, "default", buffer_mode="static", start_port=start_port, end_port=end_port)
test_poly = geometry.buffer(dilation) return bool(res)
return self.is_collision_prebuffered(test_poly, start_port=start_port, end_port=end_port)
def is_collision_prebuffered( def count_congestion(self, geometry: Polygon, net_id: str) -> int:
self, """Alias for check_collision(buffer_mode='congestion') for backward compatibility."""
dilated_geometry: Polygon, res = self.check_collision(geometry, net_id, buffer_mode="congestion")
return int(res)
def check_collision(
self,
geometry: Polygon,
net_id: str,
buffer_mode: Literal["static", "congestion"] = "static",
start_port: Port | None = None, start_port: Port | None = None,
end_port: Port | None = None, end_port: Port | None = None
) -> bool: ) -> bool | int:
"""Check if a pre-dilated geometry collides with static obstacles.""" """
# Query R-Tree using the bounds of the dilated move Check for collisions using unified dilation logic.
candidates = self.static_obstacles.intersection(dilated_geometry.bounds)
If buffer_mode == "static":
Returns True if geometry collides with static obstacles (buffered by full clearance).
If buffer_mode == "congestion":
Returns count of other nets colliding with geometry (both buffered by clearance/2).
"""
if buffer_mode == "static":
# Buffered move vs raw static obstacle
# Distance must be >= clearance
test_poly = geometry.buffer(self.clearance)
candidates = self.static_index.intersection(test_poly.bounds)
for obj_id in candidates:
if self.static_prepared[obj_id].intersects(test_poly):
# Safety zone check (using exact intersection area/bounds)
if start_port or end_port:
intersection = test_poly.intersection(self.static_geometries[obj_id])
if intersection.is_empty:
continue
ix_minx, ix_miny, ix_maxx, ix_maxy = intersection.bounds
is_safe = False
for p in [start_port, end_port]:
if p and (abs(ix_minx - p.x) < self.safety_zone_radius and
abs(ix_maxx - p.x) < self.safety_zone_radius and
abs(ix_miny - p.y) < self.safety_zone_radius and
abs(ix_maxy - p.y) < self.safety_zone_radius):
is_safe = True
break
if is_safe:
continue
return True
return False
for obj_id in candidates: else: # buffer_mode == "congestion"
# Use prepared geometry for fast intersection # Both paths buffered by clearance/2 => Total separation = clearance
if self.prepared_obstacles[obj_id].intersects(dilated_geometry): dilation = self.clearance / 2.0
# Check safety zone (2nm radius) test_poly = geometry.buffer(dilation)
if start_port or end_port: candidates = self.dynamic_index.intersection(test_poly.bounds)
obstacle = self.obstacle_geometries[obj_id]
intersection = dilated_geometry.intersection(obstacle) count = 0
for obj_id in candidates:
if intersection.is_empty: other_net_id, other_poly = self.dynamic_geometries[obj_id]
continue if other_net_id != net_id:
# Buffer the other path segment too
# Precise check: is every point in the intersection close to either port? if test_poly.intersects(other_poly.buffer(dilation)):
ix_minx, ix_miny, ix_maxx, ix_maxy = intersection.bounds count += 1
return count
is_near_start = False
if start_port and (abs(ix_minx - start_port.x) < self.safety_zone_radius and abs(ix_maxx - start_port.x) < self.safety_zone_radius and
abs(ix_miny - start_port.y) < self.safety_zone_radius and abs(ix_maxy - start_port.y) < self.safety_zone_radius):
is_near_start = True
is_near_end = False
if end_port and (abs(ix_minx - end_port.x) < self.safety_zone_radius and abs(ix_maxx - end_port.x) < self.safety_zone_radius and
abs(ix_miny - end_port.y) < self.safety_zone_radius and abs(ix_maxy - end_port.y) < self.safety_zone_radius):
is_near_end = True
if is_near_start or is_near_end:
continue
return True
return False

40
inire/router/astar.py
View file

@ -120,7 +120,7 @@ class AStarRouter:
if state in closed_set: if state in closed_set:
continue continue
closed_set.add(state) closed_set.add(state)
nodes_expanded += 1 nodes_expanded += 1
self.total_nodes_expanded += 1 self.total_nodes_expanded += 1
@ -162,7 +162,7 @@ class AStarRouter:
if proj > 0 and abs(perp) < 1e-6: if proj > 0 and abs(perp) < 1e-6:
res = Straight.generate(current.port, proj, net_width, snap_to_grid=False) res = Straight.generate(current.port, proj, net_width, snap_to_grid=False)
self._add_node(current, res, target, net_width, net_id, open_set, closed_set, "SnapStraight") self._add_node(current, res, target, net_width, net_id, open_set, closed_set, "SnapStraight")
# B. Try SBend exact reach # B. Try SBend exact reach
if abs(current.port.orientation - target.orientation) < 0.1: if abs(current.port.orientation - target.orientation) < 0.1:
rad = np.radians(current.port.orientation) rad = np.radians(current.port.orientation)
@ -174,9 +174,9 @@ class AStarRouter:
for radius in self.config.sbend_radii: for radius in self.config.sbend_radii:
try: try:
res = SBend.generate( res = SBend.generate(
current.port, current.port,
perp, perp,
radius, radius,
net_width, net_width,
collision_type=self.config.bend_collision_type, collision_type=self.config.bend_collision_type,
clip_margin=self.config.bend_clip_margin clip_margin=self.config.bend_clip_margin
@ -190,7 +190,7 @@ class AStarRouter:
if dist < 5.0: if dist < 5.0:
fine_steps = [0.1, 0.5] fine_steps = [0.1, 0.5]
lengths = sorted(set(lengths + fine_steps)) lengths = sorted(set(lengths + fine_steps))
for length in lengths: for length in lengths:
res = Straight.generate(current.port, length, net_width) res = Straight.generate(current.port, length, net_width)
self._add_node(current, res, target, net_width, net_id, open_set, closed_set, f"S{length}") self._add_node(current, res, target, net_width, net_id, open_set, closed_set, f"S{length}")
@ -199,9 +199,9 @@ class AStarRouter:
for radius in self.config.bend_radii: for radius in self.config.bend_radii:
for direction in ["CW", "CCW"]: for direction in ["CW", "CCW"]:
res = Bend90.generate( res = Bend90.generate(
current.port, current.port,
radius, radius,
net_width, net_width,
direction, direction,
collision_type=self.config.bend_collision_type, collision_type=self.config.bend_collision_type,
clip_margin=self.config.bend_clip_margin clip_margin=self.config.bend_clip_margin
@ -213,9 +213,9 @@ class AStarRouter:
for radius in self.config.sbend_radii: for radius in self.config.sbend_radii:
try: try:
res = SBend.generate( res = SBend.generate(
current.port, current.port,
offset, offset,
radius, radius,
net_width, net_width,
collision_type=self.config.bend_collision_type, collision_type=self.config.bend_collision_type,
clip_margin=self.config.bend_clip_margin clip_margin=self.config.bend_clip_margin
@ -255,7 +255,9 @@ class AStarRouter:
else: else:
hard_coll = False hard_coll = False
for poly in result.geometry: for poly in result.geometry:
if self.cost_evaluator.collision_engine.is_collision(poly, net_width, start_port=parent.port, end_port=result.end_port): if self.cost_evaluator.collision_engine.check_collision(
poly, net_id, buffer_mode="static", start_port=parent.port, end_port=result.end_port
):
hard_coll = True hard_coll = True
break break
self._collision_cache[cache_key] = hard_coll self._collision_cache[cache_key] = hard_coll
@ -276,7 +278,7 @@ class AStarRouter:
dilated_move.bounds[1] > prev_poly.bounds[3] + dilation or \ dilated_move.bounds[1] > prev_poly.bounds[3] + dilation or \
dilated_move.bounds[3] < prev_poly.bounds[1] - dilation: dilated_move.bounds[3] < prev_poly.bounds[1] - dilation:
continue continue
dilated_prev = prev_poly.buffer(dilation) dilated_prev = prev_poly.buffer(dilation)
if dilated_move.intersects(dilated_prev): if dilated_move.intersects(dilated_prev):
overlap = dilated_move.intersection(dilated_prev) overlap = dilated_move.intersection(dilated_prev)
@ -286,10 +288,10 @@ class AStarRouter:
seg_idx += 1 seg_idx += 1
move_cost = self.cost_evaluator.evaluate_move( move_cost = self.cost_evaluator.evaluate_move(
result.geometry, result.geometry,
result.end_port, result.end_port,
net_width, net_width,
net_id, net_id,
start_port=parent.port, start_port=parent.port,
length=result.length length=result.length
) )
@ -300,8 +302,6 @@ class AStarRouter:
# Turn penalties scaled by radius to favor larger turns # Turn penalties scaled by radius to favor larger turns
ref_radius = 10.0 ref_radius = 10.0
if "B" in move_type and move_radius is not None: if "B" in move_type and move_radius is not None:
# Scale penalty: larger radius -> smaller penalty
# e.g. radius 10 -> factor 1.0, radius 30 -> factor 0.33
penalty_factor = ref_radius / move_radius penalty_factor = ref_radius / move_radius
move_cost += self.config.bend_penalty * penalty_factor move_cost += self.config.bend_penalty * penalty_factor
elif "SB" in move_type and move_radius is not None: elif "SB" in move_type and move_radius is not None:

34
inire/router/cost.py
View file

@ -74,31 +74,23 @@ class CostEvaluator:
_ = net_width # Unused _ = net_width # Unused
total_cost = length * self.unit_length_cost total_cost = length * self.unit_length_cost
# 1. Hard Collision & Boundary Check # 1. Boundary Check (Centerline based for compatibility)
# We buffer by the full clearance to ensure distance >= clearance if not self.danger_map.is_within_bounds(end_port.x, end_port.y):
hard_dilation = self.collision_engine.clearance return 1e15
for poly in geometry:
dilated_poly = poly.buffer(hard_dilation)
# Boundary Check: Physical edges must stay within design bounds
minx, miny, maxx, maxy = dilated_poly.bounds
if not (self.danger_map.is_within_bounds(minx, miny) and
self.danger_map.is_within_bounds(maxx, maxy)):
return 1e15 # Out of bounds is impossible
if self.collision_engine.is_collision_prebuffered(dilated_poly, start_port=start_port, end_port=end_port): # 2. Collision Check
return 1e15 # Impossible cost for hard collisions
# 2. Soft Collision check (Negotiated Congestion)
# We buffer by clearance/2 because both paths are buffered by clearance/2
soft_dilation = self.collision_engine.clearance / 2.0
for poly in geometry: for poly in geometry:
dilated_poly = poly.buffer(soft_dilation) # Hard Collision (Static obstacles)
overlaps = self.collision_engine.count_congestion_prebuffered(dilated_poly, net_id) if self.collision_engine.check_collision(
if overlaps > 0: poly, net_id, buffer_mode="static", start_port=start_port, end_port=end_port
):
return 1e15
# Soft Collision (Negotiated Congestion)
overlaps = self.collision_engine.check_collision(poly, net_id, buffer_mode="congestion")
if isinstance(overlaps, int) and overlaps > 0:
total_cost += overlaps * self.congestion_penalty total_cost += overlaps * self.congestion_penalty
# 3. Proximity cost from Danger Map # 3. Proximity cost from Danger Map
total_cost += self.g_proximity(end_port.x, end_port.y) total_cost += self.g_proximity(end_port.x, end_port.y)
return total_cost return total_cost

50
inire/router/danger_map.py
View file

@ -3,13 +3,14 @@ from __future__ import annotations
from typing import TYPE_CHECKING from typing import TYPE_CHECKING
import numpy as np import numpy as np
import shapely
if TYPE_CHECKING: if TYPE_CHECKING:
from shapely.geometry import Polygon from shapely.geometry import Polygon
class DangerMap: class DangerMap:
"""A pre-computed grid for heuristic proximity costs.""" """A pre-computed grid for heuristic proximity costs, vectorized for performance."""
def __init__( def __init__(
self, self,
@ -28,47 +29,36 @@ class DangerMap:
self.width_cells = int(np.ceil((self.maxx - self.minx) / self.resolution)) self.width_cells = int(np.ceil((self.maxx - self.minx) / self.resolution))
self.height_cells = int(np.ceil((self.maxy - self.miny) / self.resolution)) self.height_cells = int(np.ceil((self.maxy - self.miny) / self.resolution))
# Use uint8 for memory efficiency if normalized, or float16/float32.
# Let's use float32 for simplicity and precision in the prototype.
# For a 1000x1000 grid, this is only 4MB.
# For 20000x20000, it's 1.6GB.
self.grid = np.zeros((self.width_cells, self.height_cells), dtype=np.float32) self.grid = np.zeros((self.width_cells, self.height_cells), dtype=np.float32)
def precompute(self, obstacles: list[Polygon]) -> None: def precompute(self, obstacles: list[Polygon]) -> None:
"""Pre-compute the proximity costs for the entire grid.""" """Pre-compute the proximity costs for the entire grid using vectorized operations."""
# For each cell, find distance to nearest obstacle.
# This is a distance transform problem.
# For the prototype, we can use a simpler approach or scipy.ndimage.distance_transform_edt.
from scipy.ndimage import distance_transform_edt from scipy.ndimage import distance_transform_edt
# Create a binary mask of obstacles # 1. Create a binary mask of obstacles
mask = np.ones((self.width_cells, self.height_cells), dtype=bool) mask = np.ones((self.width_cells, self.height_cells), dtype=bool)
# Rasterize obstacles (simplified: mark cells whose center is inside an obstacle)
# This is slow for many obstacles; in a real engine, we'd use a faster rasterizer. # Create coordinate grids
from shapely.geometry import Point x_coords = np.linspace(self.minx + self.resolution/2, self.maxx - self.resolution/2, self.width_cells)
y_coords = np.linspace(self.miny + self.resolution/2, self.maxy - self.resolution/2, self.height_cells)
xv, yv = np.meshgrid(x_coords, y_coords, indexing='ij')
for poly in obstacles: for poly in obstacles:
# Get bounding box in grid coordinates # Use shapely.contains_xy for fast vectorized point-in-polygon check
p_minx, p_miny, p_maxx, p_maxy = poly.bounds in_poly = shapely.contains_xy(poly, xv, yv)
x_start = max(0, int((p_minx - self.minx) / self.resolution)) mask[in_poly] = False
x_end = min(self.width_cells, int((p_maxx - self.minx) / self.resolution) + 1)
y_start = max(0, int((p_miny - self.miny) / self.resolution))
y_end = min(self.height_cells, int((p_maxy - self.miny) / self.resolution) + 1)
for ix in range(x_start, x_end): # 2. Distance transform (mask=True for empty space)
cx = self.minx + (ix + 0.5) * self.resolution
for iy in range(y_start, y_end):
cy = self.miny + (iy + 0.5) * self.resolution
if poly.contains(Point(cx, cy)):
mask[ix, iy] = False
# Distance transform (mask=True for empty space)
distances = distance_transform_edt(mask) * self.resolution distances = distance_transform_edt(mask) * self.resolution
# Proximity cost: k / d^2 if d < threshold, else 0 # 3. Proximity cost: k / d^2 if d < threshold, else 0
# To avoid division by zero, we cap distances at a small epsilon (e.g. 0.1um) # Cap distances at a small epsilon (e.g. 0.1um) to avoid division by zero
safe_distances = np.maximum(distances, 0.1) safe_distances = np.maximum(distances, 0.1)
self.grid = np.where(distances < self.safety_threshold, self.k / (safe_distances**2), 0.0).astype(np.float32) self.grid = np.where(
distances < self.safety_threshold,
self.k / (safe_distances**2),
0.0
).astype(np.float32)
def is_within_bounds(self, x: float, y: float) -> bool: def is_within_bounds(self, x: float, y: float) -> bool:
"""Check if a coordinate is within the design bounds.""" """Check if a coordinate is within the design bounds."""

15
inire/router/pathfinder.py
View file

@ -79,7 +79,7 @@ class PathFinder:
logger.debug(f" Net {net_id} routed in {time.monotonic() - net_start:.4f}s") logger.debug(f" Net {net_id} routed in {time.monotonic() - net_start:.4f}s")
if path: if path:
# 3. Add to R-Tree # 3. Add to index
all_geoms = [] all_geoms = []
for res in path: for res in path:
all_geoms.extend(res.geometry) all_geoms.extend(res.geometry)
@ -88,7 +88,11 @@ class PathFinder:
# Check if this new path has any congestion # Check if this new path has any congestion
collision_count = 0 collision_count = 0
for poly in all_geoms: for poly in all_geoms:
collision_count += self.cost_evaluator.collision_engine.count_congestion(poly, net_id) overlaps = self.cost_evaluator.collision_engine.check_collision(
poly, net_id, buffer_mode="congestion"
)
if isinstance(overlaps, int):
collision_count += overlaps
if collision_count > 0: if collision_count > 0:
any_congestion = True any_congestion = True
@ -120,9 +124,12 @@ class PathFinder:
collision_count = 0 collision_count = 0
for comp in res.path: for comp in res.path:
for poly in comp.geometry: for poly in comp.geometry:
collision_count += self.cost_evaluator.collision_engine.count_congestion(poly, net_id) overlaps = self.cost_evaluator.collision_engine.check_collision(
poly, net_id, buffer_mode="congestion"
)
if isinstance(overlaps, int):
collision_count += overlaps
final_results[net_id] = RoutingResult(net_id, res.path, collision_count == 0, collision_count) final_results[net_id] = RoutingResult(net_id, res.path, collision_count == 0, collision_count)
return final_results return final_results