From f600b52f32438f4368484094de2d01d16bcf4953 Mon Sep 17 00:00:00 2001
From: Jan Petykiewicz <jan@mpxd.net>
Date: Sat, 7 Mar 2026 08:26:29 -0800
Subject: [PATCH] Initial buildout

---
 .gitignore                       |   2 +
 .python-version                  |   1 +
 README.md                        |  69 ++++++++
 inire/__init__.py                |   4 +-
 inire/geometry/collision.py      | 140 ++++++++++++++++
 inire/geometry/components.py     | 170 ++++++++++++++++++++
 inire/geometry/primitives.py     |  50 ++++++
 inire/router/astar.py            | 209 ++++++++++++++++++++++++
 inire/router/cost.py             |  62 ++++++++
 inire/router/danger_map.py       |  80 ++++++++++
 inire/router/pathfinder.py       | 113 +++++++++++++
 inire/tests/benchmark_scaling.py |  56 +++++++
 inire/tests/test_astar.py        |  71 +++++++++
 inire/tests/test_collision.py    |  59 +++++++
 inire/tests/test_components.py   |  75 +++++++++
 inire/tests/test_congestion.py   |  70 ++++++++
 inire/tests/test_cost.py         |  36 +++++
 inire/tests/test_fuzz.py         |  63 ++++++++
 inire/tests/test_pathfinder.py   |  51 ++++++
 inire/tests/test_primitives.py   |  43 +++++
 inire/tests/test_refinements.py  |  60 +++++++
 inire/utils/validation.py        |  57 +++++++
 inire/utils/visualization.py     |  45 ++++++
 pyproject.toml                   |  29 ++--
 uv.lock                          | 264 ++++++++++++++++++++++++++++++-
 25 files changed, 1856 insertions(+), 23 deletions(-)
 create mode 100644 .python-version
 create mode 100644 inire/geometry/collision.py
 create mode 100644 inire/geometry/components.py
 create mode 100644 inire/geometry/primitives.py
 create mode 100644 inire/router/astar.py
 create mode 100644 inire/router/cost.py
 create mode 100644 inire/router/danger_map.py
 create mode 100644 inire/router/pathfinder.py
 create mode 100644 inire/tests/benchmark_scaling.py
 create mode 100644 inire/tests/test_astar.py
 create mode 100644 inire/tests/test_collision.py
 create mode 100644 inire/tests/test_components.py
 create mode 100644 inire/tests/test_congestion.py
 create mode 100644 inire/tests/test_cost.py
 create mode 100644 inire/tests/test_fuzz.py
 create mode 100644 inire/tests/test_pathfinder.py
 create mode 100644 inire/tests/test_primitives.py
 create mode 100644 inire/tests/test_refinements.py
 create mode 100644 inire/utils/validation.py
 create mode 100644 inire/utils/visualization.py

diff --git a/.gitignore b/.gitignore
index 505a3b1..b5a6ce5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,3 +8,5 @@ wheels/
 
 # Virtual environments
 .venv
+
+.hypothesis
diff --git a/.python-version b/.python-version
new file mode 100644
index 0000000..24ee5b1
--- /dev/null
+++ b/.python-version
@@ -0,0 +1 @@
+3.13
diff --git a/README.md b/README.md
index e69de29..4fba041 100644
--- a/README.md
+++ b/README.md
@@ -0,0 +1,69 @@
+# inire: Auto-Routing for Photonic and RF Integrated Circuits
+
+`inire` is a high-performance auto-router designed specifically for the physical constraints of photonic and RF integrated circuits. It utilizes a Hybrid State-Lattice A* search combined with "Negotiated Congestion" (PathFinder) to route multiple nets while maintaining strict geometric fidelity and clearance.
+
+## Key Features
+
+*   **Hybrid State-Lattice Search**: Routes using discrete 90° bends and parametric S-bends, ensuring manufacturing-stable paths.
+*   **Negotiated Congestion**: Iteratively resolves multi-net bottlenecks by inflating costs in high-traffic regions.
+*   **Analytic Correctness**: Every move is verified against an R-Tree spatial index of obstacles and other paths.
+*   **1nm Precision**: All coordinates and ports are snapped to a 1nm manufacturing grid.
+*   **Safety & Proximity**: Incorporates a "Danger Map" (pre-computed distance transform) to maintain optimal spacing and reduce crosstalk.
+*   **Locked Paths**: Supports treating existing geometries as fixed obstacles for incremental routing sessions.
+
+## Installation
+
+`inire` requires Python 3.11+. You can install the dependencies using `uv` (recommended) or `pip`:
+
+```bash
+# Using uv
+uv sync
+
+# Using pip
+pip install numpy scipy shapely rtree matplotlib
+```
+
+## Quick Start
+
+```python
+from inire.geometry.primitives import Port
+from inire.geometry.collision import CollisionEngine
+from inire.router.danger_map import DangerMap
+from inire.router.cost import CostEvaluator
+from inire.router.astar import AStarRouter
+from inire.router.pathfinder import PathFinder
+
+# 1. Setup Environment
+engine = CollisionEngine(clearance=2.0)
+danger_map = DangerMap(bounds=(0, 0, 1000, 1000))
+danger_map.precompute([]) # Add polygons here for obstacles
+
+# 2. Configure Router
+evaluator = CostEvaluator(engine, danger_map)
+router = AStarRouter(evaluator)
+pf = PathFinder(router, evaluator)
+
+# 3. Define Netlist
+netlist = {
+    "net1": (Port(0, 0, 0), Port(100, 50, 0)),
+}
+
+# 4. Route
+results = pf.route_all(netlist, {"net1": 2.0})
+
+if results["net1"].is_valid:
+    print("Successfully routed net1!")
+```
+
+## Architecture
+
+`inire` operates on a **State-Lattice** defined by $(x, y, \theta)$. From any state, the router expands via three primary "Move" types:
+1.  **Straights**: Variable-length segments.
+2.  **90° Bends**: Fixed-radius PDK cells.
+3.  **Parametric S-Bends**: Procedural arcs for bridging small lateral offsets ($O < 2R$).
+
+For multi-net problems, the **PathFinder** loop handles rip-up and reroute logic, ensuring that paths find the globally optimal configuration without crossings.
+
+## License
+
+This project is licensed under the GNU Affero General Public License v3. See `LICENSE.md` for details.
diff --git a/inire/__init__.py b/inire/__init__.py
index 2e37c92..5fb5ffb 100644
--- a/inire/__init__.py
+++ b/inire/__init__.py
@@ -1,6 +1,8 @@
 """
- inire  Wave-router
+inire Wave-router
 """
+from .geometry.primitives import Port as Port  # noqa: PLC0414
+from .geometry.components import Straight as Straight, Bend90 as Bend90, SBend as SBend  # noqa: PLC0414
 
 __author__ = 'Jan Petykiewicz'
 __version__ = '0.1'
diff --git a/inire/geometry/collision.py b/inire/geometry/collision.py
new file mode 100644
index 0000000..53bc3ae
--- /dev/null
+++ b/inire/geometry/collision.py
@@ -0,0 +1,140 @@
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+import rtree
+from shapely.geometry import Point, Polygon
+from shapely.ops import unary_union
+from shapely.prepared import prep
+
+if TYPE_CHECKING:
+    from shapely.prepared import PreparedGeometry
+
+    from inire.geometry.primitives import Port
+
+
+class CollisionEngine:
+    """Manages spatial queries for collision detection."""
+
+    def __init__(self, clearance: float, max_net_width: float = 2.0) -> None:
+        self.clearance = clearance
+        self.max_net_width = max_net_width
+        self.static_obstacles = rtree.index.Index()
+        # To store geometries for precise checks
+        self.obstacle_geometries: dict[int, Polygon] = {}  # ID -> Polygon
+        self.prepared_obstacles: dict[int, PreparedGeometry] = {}  # ID -> PreparedGeometry
+        self._id_counter = 0
+
+        # Dynamic paths for multi-net congestion
+        self.dynamic_paths = rtree.index.Index()
+        # obj_id -> (net_id, geometry)
+        self.path_geometries: dict[int, tuple[str, Polygon]] = {}
+        self._dynamic_id_counter = 0
+
+    def add_static_obstacle(self, polygon: Polygon, pre_dilate: bool = True) -> None:
+        """Add a static obstacle to the engine."""
+        _ = pre_dilate  # Keep for API compatibility
+        obj_id = self._id_counter
+        self._id_counter += 1
+
+        self.obstacle_geometries[obj_id] = polygon
+        self.prepared_obstacles[obj_id] = prep(polygon)
+
+        # Index the bounding box of the polygon (dilated for broad prune)
+        # Spec: "All user-provided obstacles are pre-dilated by (W_max + C)/2"
+        dilation = (self.max_net_width + self.clearance) / 2.0
+        dilated_bounds = (
+            polygon.bounds[0] - dilation,
+            polygon.bounds[1] - dilation,
+            polygon.bounds[2] + dilation,
+            polygon.bounds[3] + dilation,
+        )
+        self.static_obstacles.insert(obj_id, dilated_bounds)
+
+    def add_path(self, net_id: str, geometry: list[Polygon]) -> None:
+        """Add a net's routed path to the dynamic R-Tree."""
+        # Dilate by clearance/2 for congestion
+        dilation = self.clearance / 2.0
+        for poly in geometry:
+            dilated = poly.buffer(dilation)
+            obj_id = self._dynamic_id_counter
+            self._dynamic_id_counter += 1
+            self.path_geometries[obj_id] = (net_id, dilated)
+            self.dynamic_paths.insert(obj_id, dilated.bounds)
+
+    def remove_path(self, net_id: str) -> None:
+        """Remove a net's path from the dynamic R-Tree."""
+        to_remove = [obj_id for obj_id, (nid, _) in self.path_geometries.items() if nid == net_id]
+        for obj_id in to_remove:
+            nid, dilated = self.path_geometries.pop(obj_id)
+            self.dynamic_paths.delete(obj_id, dilated.bounds)
+
+    def lock_net(self, net_id: str) -> None:
+        """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]
+        for obj_id in to_move:
+            nid, dilated = self.path_geometries.pop(obj_id)
+            self.dynamic_paths.delete(obj_id, dilated.bounds)
+
+            # 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)
+        candidates = self.dynamic_paths.intersection(test_poly.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 test_poly.intersects(other_poly):
+                count += 1
+        return count
+
+    def is_collision(
+        self,
+        geometry: Polygon,
+        net_width: float,
+        start_port: Port | None = None,
+        end_port: Port | None = None,
+    ) -> bool:
+        """Check if a geometry (e.g. a Move) collides with static obstacles."""
+        _ = net_width  # Width is already integrated into engine dilation settings
+        dilation = self.clearance / 2.0
+        test_poly = geometry.buffer(dilation)
+
+        # Broad prune with R-Tree
+        candidates = self.static_obstacles.intersection(test_poly.bounds)
+
+        for obj_id in candidates:
+            # Use prepared geometry for fast intersection
+            if self.prepared_obstacles[obj_id].intersects(test_poly):
+                # Check safety zone (2nm = 0.002 um)
+                if start_port or end_port:
+                    obstacle = self.obstacle_geometries[obj_id]
+                    intersection = test_poly.intersection(obstacle)
+
+                    if intersection.is_empty:
+                        continue
+
+                    # Create safety zone polygons
+                    safety_zones = []
+                    if start_port:
+                        safety_zones.append(Point(start_port.x, start_port.y).buffer(0.002))
+                    if end_port:
+                        safety_zones.append(Point(end_port.x, end_port.y).buffer(0.002))
+
+                    if safety_zones:
+                        safe_poly = unary_union(safety_zones)
+                        # Remove safe zones from intersection
+                        remaining_collision = intersection.difference(safe_poly)
+                        if remaining_collision.is_empty or remaining_collision.area < 1e-9:
+                            continue
+
+                return True
+        return False
+
diff --git a/inire/geometry/components.py b/inire/geometry/components.py
new file mode 100644
index 0000000..8374620
--- /dev/null
+++ b/inire/geometry/components.py
@@ -0,0 +1,170 @@
+from __future__ import annotations
+
+from typing import NamedTuple
+
+import numpy as np
+from shapely.geometry import Polygon
+
+from .primitives import Port
+
+# Search Grid Snap (1.0 µm)
+SEARCH_GRID_SNAP_UM = 1.0
+
+
+def snap_search_grid(value: float) -> float:
+    """Snap a coordinate to the nearest 1µm."""
+    return round(value / SEARCH_GRID_SNAP_UM) * SEARCH_GRID_SNAP_UM
+
+
+class ComponentResult(NamedTuple):
+    """The result of a component generation: geometry and the final port."""
+
+    geometry: list[Polygon]
+    end_port: Port
+
+
+class Straight:
+    @staticmethod
+    def generate(start_port: Port, length: float, width: float) -> ComponentResult:
+        """Generate a straight waveguide segment."""
+        # Calculate end port position
+        rad = np.radians(start_port.orientation)
+        dx = length * np.cos(rad)
+        dy = length * np.sin(rad)
+
+        end_port = Port(start_port.x + dx, start_port.y + dy, start_port.orientation)
+
+        # Create polygon (centered on port)
+        half_w = width / 2.0
+        # Points relative to start port (0,0)
+        points = [(0, half_w), (length, half_w), (length, -half_w), (0, -half_w)]
+
+        # Transform points
+        cos_val = np.cos(rad)
+        sin_val = np.sin(rad)
+        poly_points = []
+        for px, py in points:
+            tx = start_port.x + px * cos_val - py * sin_val
+            ty = start_port.y + px * sin_val + py * cos_val
+            poly_points.append((tx, ty))
+
+        return ComponentResult(geometry=[Polygon(poly_points)], end_port=end_port)
+
+
+def _get_num_segments(radius: float, angle_deg: float, sagitta: float = 0.01) -> int:
+    """Calculate number of segments for an arc to maintain a maximum sagitta."""
+    if radius <= 0:
+        return 1
+    # angle_deg is absolute angle turned
+    # s = R(1 - cos(theta/2)) => cos(theta/2) = 1 - s/R
+    # theta = 2 * acos(1 - s/R)
+    # n = total_angle / theta
+    ratio = max(0.0, min(1.0, 1.0 - sagitta / radius))
+    theta_max = 2.0 * np.arccos(ratio)
+    if theta_max == 0:
+        return 16
+    num = int(np.ceil(np.radians(abs(angle_deg)) / theta_max))
+    return max(4, num)
+
+
+class Bend90:
+    @staticmethod
+    def generate(start_port: Port, radius: float, width: float, direction: str = "CW", sagitta: float = 0.01) -> ComponentResult:
+        """Generate a 90-degree bend."""
+        # direction: 'CW' (-90) or 'CCW' (+90)
+        turn_angle = -90 if direction == "CW" else 90
+
+        # Calculate center of the arc
+        rad_start = np.radians(start_port.orientation)
+        center_angle = rad_start + (np.pi / 2 if direction == "CCW" else -np.pi / 2)
+        cx = start_port.x + radius * np.cos(center_angle)
+        cy = start_port.y + radius * np.sin(center_angle)
+
+        # Center to start is radius at center_angle + pi
+        theta_start = center_angle + np.pi
+        theta_end = theta_start + (np.pi / 2 if direction == "CCW" else -np.pi / 2)
+
+        ex = cx + radius * np.cos(theta_end)
+        ey = cy + radius * np.sin(theta_end)
+
+        # End port orientation
+        end_orientation = (start_port.orientation + turn_angle) % 360
+
+        snapped_ex = snap_search_grid(ex)
+        snapped_ey = snap_search_grid(ey)
+
+        end_port = Port(snapped_ex, snapped_ey, float(end_orientation))
+
+        # Generate arc geometry
+        num_segments = _get_num_segments(radius, 90, sagitta)
+        angles = np.linspace(theta_start, theta_end, num_segments + 1)
+
+        inner_radius = radius - width / 2.0
+        outer_radius = radius + width / 2.0
+
+        inner_points = [(cx + inner_radius * np.cos(a), cy + inner_radius * np.sin(a)) for a in angles]
+        outer_points = [(cx + outer_radius * np.cos(a), cy + outer_radius * np.sin(a)) for a in reversed(angles)]
+
+        return ComponentResult(geometry=[Polygon(inner_points + outer_points)], end_port=end_port)
+
+
+class SBend:
+    @staticmethod
+    def generate(start_port: Port, offset: float, radius: float, width: float, sagitta: float = 0.01) -> ComponentResult:
+        """Generate a parametric S-bend (two tangent arcs). Only for offset < 2*radius."""
+        if abs(offset) >= 2 * radius:
+            raise ValueError(f"SBend offset {offset} must be less than 2*radius {2 * radius}")
+
+        # Analytical length: L = 2 * sqrt(O * (2*R - O/4)) is for a specific S-bend type.
+        # Standard S-bend with two equal arcs:
+        # Offset O = 2 * R * (1 - cos(theta))
+        # theta = acos(1 - O / (2*R))
+        theta = np.arccos(1 - abs(offset) / (2 * radius))
+
+        # Length of one arc = R * theta
+        # Total length of S-bend = 2 * R * theta (arc length)
+        # Horizontal distance dx = 2 * R * sin(theta)
+
+        dx = 2 * radius * np.sin(theta)
+        dy = offset
+
+        # End port
+        rad_start = np.radians(start_port.orientation)
+        ex = start_port.x + dx * np.cos(rad_start) - dy * np.sin(rad_start)
+        ey = start_port.y + dx * np.sin(rad_start) + dy * np.cos(rad_start)
+
+        end_port = Port(ex, ey, start_port.orientation)
+
+        # Geometry: two arcs
+        # First arc center
+        direction = 1 if offset > 0 else -1
+        center_angle1 = rad_start + direction * np.pi / 2
+        cx1 = start_port.x + radius * np.cos(center_angle1)
+        cy1 = start_port.y + radius * np.sin(center_angle1)
+
+        # Second arc center
+        center_angle2 = rad_start - direction * np.pi / 2
+        cx2 = ex + radius * np.cos(center_angle2)
+        cy2 = ey + radius * np.sin(center_angle2)
+
+        # Generate points for both arcs
+        num_segments = _get_num_segments(radius, float(np.degrees(theta)), sagitta)
+        # Arc 1: theta_start1 to theta_end1
+        theta_start1 = center_angle1 + np.pi
+        theta_end1 = theta_start1 - direction * theta
+
+        # Arc 2: theta_start2 to theta_end2
+        theta_start2 = center_angle2
+        theta_end2 = theta_start2 + direction * theta
+
+        def get_arc_points(cx: float, cy: float, r_inner: float, r_outer: float, t_start: float, t_end: float) -> list[tuple[float, float]]:
+            angles = np.linspace(t_start, t_end, num_segments + 1)
+            inner = [(cx + r_inner * np.cos(a), cy + r_inner * np.sin(a)) for a in angles]
+            outer = [(cx + r_outer * np.cos(a), cy + r_outer * np.sin(a)) for a in reversed(angles)]
+            return inner + outer
+
+        poly1 = Polygon(get_arc_points(cx1, cy1, radius - width / 2, radius + width / 2, theta_start1, theta_end1))
+        poly2 = Polygon(get_arc_points(cx2, cy2, radius - width / 2, radius + width / 2, theta_end2, theta_start2))
+
+        return ComponentResult(geometry=[poly1, poly2], end_port=end_port)
+
diff --git a/inire/geometry/primitives.py b/inire/geometry/primitives.py
new file mode 100644
index 0000000..74d2dc0
--- /dev/null
+++ b/inire/geometry/primitives.py
@@ -0,0 +1,50 @@
+from __future__ import annotations
+from dataclasses import dataclass
+import numpy as np
+
+# 1nm snap (0.001 µm)
+GRID_SNAP_UM = 0.001
+
+def snap_nm(value: float) -> float:
+    """Snap a coordinate to the nearest 1nm (0.001 um)."""
+    return round(value / GRID_SNAP_UM) * GRID_SNAP_UM
+
+@dataclass(frozen=True)
+class Port:
+    """A port defined by (x, y, orientation) in micrometers."""
+    x: float
+    y: float
+    orientation: float  # Degrees: 0, 90, 180, 270
+
+    def __post_init__(self) -> None:
+        # Snap x, y to 1nm
+        # We need to use object.__setattr__ because the dataclass is frozen.
+        snapped_x = snap_nm(self.x)
+        snapped_y = snap_nm(self.y)
+
+        # Ensure orientation is one of {0, 90, 180, 270}
+        norm_orientation = int(round(self.orientation)) % 360
+        if norm_orientation not in {0, 90, 180, 270}:
+            norm_orientation = (round(norm_orientation / 90) * 90) % 360
+
+        object.__setattr__(self, "x", snapped_x)
+        object.__setattr__(self, "y", snapped_y)
+        object.__setattr__(self, "orientation", float(norm_orientation))
+
+
+def translate_port(port: Port, dx: float, dy: float) -> Port:
+    """Translate a port by (dx, dy)."""
+    return Port(port.x + dx, port.y + dy, port.orientation)
+
+
+def rotate_port(port: Port, angle: float, origin: tuple[float, float] = (0, 0)) -> Port:
+    """Rotate a port by a multiple of 90 degrees around an origin."""
+    ox, oy = origin
+    px, py = port.x, port.y
+
+    rad = np.radians(angle)
+    qx = ox + np.cos(rad) * (px - ox) - np.sin(rad) * (py - oy)
+    qy = oy + np.sin(rad) * (px - ox) + np.cos(rad) * (py - oy)
+
+    return Port(qx, qy, port.orientation + angle)
+
diff --git a/inire/router/astar.py b/inire/router/astar.py
new file mode 100644
index 0000000..f03a51b
--- /dev/null
+++ b/inire/router/astar.py
@@ -0,0 +1,209 @@
+from __future__ import annotations
+
+import heapq
+import logging
+from typing import TYPE_CHECKING
+
+import numpy as np
+
+from inire.geometry.components import Bend90, SBend, Straight
+
+if TYPE_CHECKING:
+    from inire.geometry.components import ComponentResult
+    from inire.geometry.primitives import Port
+    from inire.router.cost import CostEvaluator
+
+logger = logging.getLogger(__name__)
+
+
+class AStarNode:
+    _count = 0
+
+    def __init__(
+        self,
+        port: Port,
+        g_cost: float,
+        h_cost: float,
+        parent: AStarNode | None = None,
+        component_result: ComponentResult | None = None,
+    ) -> None:
+        self.port = port
+        self.g_cost = g_cost
+        self.h_cost = h_cost
+        self.f_cost = g_cost + h_cost
+        self.parent = parent
+        self.component_result = component_result
+        self.count = AStarNode._count
+        AStarNode._count += 1
+
+    def __lt__(self, other: AStarNode) -> bool:
+        # Tie-breaking: lower f first, then lower h, then order
+        if abs(self.f_cost - other.f_cost) > 1e-9:
+            return self.f_cost < other.f_cost
+        if abs(self.h_cost - other.h_cost) > 1e-9:
+            return self.h_cost < other.h_cost
+        return self.count < other.count
+
+
+class AStarRouter:
+    def __init__(self, cost_evaluator: CostEvaluator) -> None:
+        self.cost_evaluator = cost_evaluator
+        self.node_limit = 100000
+        self.total_nodes_expanded = 0
+        self._collision_cache: dict[tuple[float, float, float, str, float, str], bool] = {}
+
+    def route(
+        self, start: Port, target: Port, net_width: float, net_id: str = "default"
+    ) -> list[ComponentResult] | None:
+        """Route a single net using A*."""
+        self._collision_cache.clear()
+        open_set: list[AStarNode] = []
+        # Key: (x, y, orientation)
+        closed_set: set[tuple[float, float, float]] = set()
+
+        start_node = AStarNode(start, 0.0, self.cost_evaluator.h_manhattan(start, target))
+        heapq.heappush(open_set, start_node)
+
+        nodes_expanded = 0
+
+        while open_set:
+            if nodes_expanded >= self.node_limit:
+                logger.warning(f"  AStar failed: node limit {self.node_limit} reached.")
+                return None
+
+            current = heapq.heappop(open_set)
+
+            state = (current.port.x, current.port.y, current.port.orientation)
+            if state in closed_set:
+                continue
+            closed_set.add(state)
+            nodes_expanded += 1
+            self.total_nodes_expanded += 1
+
+            # Check if we reached the target (Snap-to-Target)
+            if (
+                abs(current.port.x - target.x) < 1e-6
+                and abs(current.port.y - target.y) < 1e-6
+                and current.port.orientation == target.orientation
+            ):
+                return self._reconstruct_path(current)
+
+            # Look-ahead snapping
+            if self._try_snap_to_target(current, target, net_width, net_id, open_set):
+                pass
+
+            # Expand neighbors
+            self._expand_moves(current, target, net_width, net_id, open_set)
+
+        return None
+
+    def _expand_moves(
+        self,
+        current: AStarNode,
+        target: Port,
+        net_width: float,
+        net_id: str,
+        open_set: list[AStarNode],
+    ) -> None:
+        # 1. Straights
+        for length in [0.5, 1.0, 5.0, 25.0]:
+            res = Straight.generate(current.port, length, net_width)
+            self._add_node(current, res, target, net_width, net_id, open_set, f"S{length}")
+
+        # 2. Bends
+        for radius in [5.0, 10.0, 20.0]:
+            for direction in ["CW", "CCW"]:
+                res = Bend90.generate(current.port, radius, net_width, direction)
+                self._add_node(current, res, target, net_width, net_id, open_set, f"B{radius}{direction}")
+
+        # 3. Parametric SBends
+        dx = target.x - current.port.x
+        dy = target.y - current.port.y
+        rad = np.radians(current.port.orientation)
+        local_dy = -dx * np.sin(rad) + dy * np.cos(rad)
+
+        if 0 < abs(local_dy) < 40.0:  # Match max 2*R
+            try:
+                # Use a standard radius for expansion
+                res = SBend.generate(current.port, local_dy, 20.0, net_width)
+                self._add_node(current, res, target, net_width, net_id, open_set, f"SB{local_dy}")
+            except ValueError:
+                pass
+
+    def _add_node(
+        self,
+        parent: AStarNode,
+        result: ComponentResult,
+        target: Port,
+        net_width: float,
+        net_id: str,
+        open_set: list[AStarNode],
+        move_type: str,
+    ) -> None:
+        cache_key = (
+            parent.port.x,
+            parent.port.y,
+            parent.port.orientation,
+            move_type,
+            net_width,
+            net_id,
+        )
+        if cache_key in self._collision_cache:
+            if self._collision_cache[cache_key]:
+                return
+        else:
+            hard_coll = False
+            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):
+                    hard_coll = True
+                    break
+            self._collision_cache[cache_key] = hard_coll
+            if hard_coll:
+                return
+
+        move_cost = self.cost_evaluator.evaluate_move(result.geometry, result.end_port, net_width, net_id, start_port=parent.port)
+
+        g_cost = parent.g_cost + move_cost + self._step_cost(result)
+        h_cost = self.cost_evaluator.h_manhattan(result.end_port, target)
+
+        new_node = AStarNode(result.end_port, g_cost, h_cost, parent, result)
+        heapq.heappush(open_set, new_node)
+
+    def _step_cost(self, result: ComponentResult) -> float:
+        _ = result  # Unused in base implementation
+        return 0.0
+
+    def _try_snap_to_target(
+        self,
+        current: AStarNode,
+        target: Port,
+        net_width: float,
+        net_id: str,
+        open_set: list[AStarNode],
+    ) -> bool:
+        dist = np.sqrt((current.port.x - target.x) ** 2 + (current.port.y - target.y) ** 2)
+        if dist > 10.0:
+            return False
+
+        if current.port.orientation == target.orientation:
+            rad = np.radians(current.port.orientation)
+            dx = target.x - current.port.x
+            dy = target.y - current.port.y
+
+            proj = dx * np.cos(rad) + dy * np.sin(rad)
+            perp = -dx * np.sin(rad) + dy * np.cos(rad)
+
+            if proj > 0 and abs(perp) < 1e-6:
+                res = Straight.generate(current.port, proj, net_width)
+                self._add_node(current, res, target, net_width, net_id, open_set, "SnapTarget")
+                return True
+        return False
+
+    def _reconstruct_path(self, end_node: AStarNode) -> list[ComponentResult]:
+        path = []
+        curr = end_node
+        while curr.component_result:
+            path.append(curr.component_result)
+            curr = curr.parent
+        return path[::-1]
+
diff --git a/inire/router/cost.py b/inire/router/cost.py
new file mode 100644
index 0000000..b576a72
--- /dev/null
+++ b/inire/router/cost.py
@@ -0,0 +1,62 @@
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from shapely.geometry import Polygon
+
+    from inire.geometry.collision import CollisionEngine
+    from inire.geometry.primitives import Port
+    from inire.router.danger_map import DangerMap
+
+
+class CostEvaluator:
+    """Calculates total cost f(n) = g(n) + h(n)."""
+
+    def __init__(self, collision_engine: CollisionEngine, danger_map: DangerMap) -> None:
+        self.collision_engine = collision_engine
+        self.danger_map = danger_map
+        # Cost weights
+        self.unit_length_cost = 1.0
+        self.bend_cost_multiplier = 10.0
+        self.greedy_h_weight = 1.1
+        self.congestion_penalty = 100.0  # Multiplier for overlaps
+
+    def g_proximity(self, x: float, y: float) -> float:
+        """Get proximity cost from the Danger Map."""
+        return self.danger_map.get_cost(x, y)
+
+    def h_manhattan(self, current: Port, target: Port) -> float:
+        """Heuristic: weighted Manhattan distance + orientation penalty."""
+        dist = abs(current.x - target.x) + abs(current.y - target.y)
+
+        # Orientation penalty if not aligned with target entry
+        penalty = 0.0
+        if current.orientation != target.orientation:
+            penalty += 50.0  # Arbitrary high cost for mismatch
+
+        return self.greedy_h_weight * (dist + penalty)
+
+    def evaluate_move(
+        self,
+        geometry: list[Polygon],
+        end_port: Port,
+        net_width: float,
+        net_id: str,
+        start_port: Port | None = None,
+    ) -> float:
+        """Calculate the cost of a single move (Straight, Bend, SBend)."""
+        total_cost = 0.0
+        # Strict collision check
+        for poly in geometry:
+            if self.collision_engine.is_collision(poly, net_width, start_port=start_port, end_port=end_port):
+                return 1e9  # Massive cost for hard collisions
+
+            # Negotiated Congestion Cost
+            overlaps = self.collision_engine.count_congestion(poly, net_id)
+            total_cost += overlaps * self.congestion_penalty
+
+        # Proximity cost from Danger Map
+        total_cost += self.g_proximity(end_port.x, end_port.y)
+        return total_cost
+
diff --git a/inire/router/danger_map.py b/inire/router/danger_map.py
new file mode 100644
index 0000000..2588e80
--- /dev/null
+++ b/inire/router/danger_map.py
@@ -0,0 +1,80 @@
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+import numpy as np
+
+if TYPE_CHECKING:
+    from shapely.geometry import Polygon
+
+
+class DangerMap:
+    """A pre-computed grid for heuristic proximity costs."""
+
+    def __init__(
+        self,
+        bounds: tuple[float, float, float, float],
+        resolution: float = 1.0,
+        safety_threshold: float = 10.0,
+        k: float = 1.0,
+    ) -> None:
+        # bounds: (minx, miny, maxx, maxy)
+        self.minx, self.miny, self.maxx, self.maxy = bounds
+        self.resolution = resolution
+        self.safety_threshold = safety_threshold
+        self.k = k
+
+        # Grid dimensions
+        self.width_cells = int(np.ceil((self.maxx - self.minx) / 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)
+
+    def precompute(self, obstacles: list[Polygon]) -> None:
+        """Pre-compute the proximity costs for the entire grid."""
+        # 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
+
+        # Create a binary mask of obstacles
+        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.
+        from shapely.geometry import Point
+
+        for poly in obstacles:
+            # Get bounding box in grid coordinates
+            p_minx, p_miny, p_maxx, p_maxy = poly.bounds
+            x_start = max(0, int((p_minx - self.minx) / self.resolution))
+            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):
+                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
+
+        # 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)
+        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)
+
+    def get_cost(self, x: float, y: float) -> float:
+        """Get the proximity cost at a specific coordinate."""
+        ix = int((x - self.minx) / self.resolution)
+        iy = int((y - self.miny) / self.resolution)
+
+        if 0 <= ix < self.width_cells and 0 <= iy < self.height_cells:
+            return float(self.grid[ix, iy])
+        return 1e6  # Outside bounds is expensive
diff --git a/inire/router/pathfinder.py b/inire/router/pathfinder.py
new file mode 100644
index 0000000..52931e6
--- /dev/null
+++ b/inire/router/pathfinder.py
@@ -0,0 +1,113 @@
+from __future__ import annotations
+
+import logging
+import time
+from dataclasses import dataclass
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from inire.geometry.components import ComponentResult
+    from inire.geometry.primitives import Port
+    from inire.router.astar import AStarRouter
+    from inire.router.cost import CostEvaluator
+
+logger = logging.getLogger(__name__)
+
+
+@dataclass
+class RoutingResult:
+    net_id: str
+    path: list[ComponentResult]
+    is_valid: bool
+    collisions: int
+
+
+class PathFinder:
+    """Multi-net router using Negotiated Congestion."""
+
+    def __init__(self, router: AStarRouter, cost_evaluator: CostEvaluator) -> None:
+        self.router = router
+        self.cost_evaluator = cost_evaluator
+        self.max_iterations = 20
+        self.base_congestion_penalty = 100.0
+
+    def route_all(self, netlist: dict[str, tuple[Port, Port]], net_widths: dict[str, float]) -> dict[str, RoutingResult]:
+        """Route all nets in the netlist using Negotiated Congestion."""
+        results: dict[str, RoutingResult] = {}
+        self.cost_evaluator.congestion_penalty = self.base_congestion_penalty
+
+        start_time = time.monotonic()
+        num_nets = len(netlist)
+        session_timeout = max(30.0, 0.5 * num_nets * self.max_iterations)
+
+        for iteration in range(self.max_iterations):
+            any_congestion = False
+            logger.info(f"PathFinder Iteration {iteration}...")
+
+            # Sequence through nets
+            for net_id, (start, target) in netlist.items():
+                # Timeout check
+                elapsed = time.monotonic() - start_time
+                if elapsed > session_timeout:
+                    logger.warning(f"PathFinder TIMEOUT after {elapsed:.2f}s")
+                    # Return whatever we have so far
+                    return self._finalize_results(results, netlist)
+
+                width = net_widths.get(net_id, 2.0)
+
+                # 1. Rip-up existing path
+                self.cost_evaluator.collision_engine.remove_path(net_id)
+
+                # 2. Reroute with current congestion info
+                net_start = time.monotonic()
+                path = self.router.route(start, target, width, net_id=net_id)
+                logger.debug(f"  Net {net_id} routed in {time.monotonic() - net_start:.4f}s")
+
+                if path:
+                    # 3. Add to R-Tree
+                    all_geoms = []
+                    for res in path:
+                        all_geoms.extend(res.geometry)
+                    self.cost_evaluator.collision_engine.add_path(net_id, all_geoms)
+
+                    # Check if this new path has any congestion
+                    collision_count = 0
+                    for poly in all_geoms:
+                        collision_count += self.cost_evaluator.collision_engine.count_congestion(poly, net_id)
+
+                    if collision_count > 0:
+                        any_congestion = True
+
+                    results[net_id] = RoutingResult(net_id, path, collision_count == 0, collision_count)
+                else:
+                    results[net_id] = RoutingResult(net_id, [], False, 0)
+                    any_congestion = True
+
+            if not any_congestion:
+                break
+
+            # 4. Inflate congestion penalty
+            self.cost_evaluator.congestion_penalty *= 1.5
+
+        return self._finalize_results(results, netlist)
+
+    def _finalize_results(self, results: dict[str, RoutingResult], netlist: dict[str, tuple[Port, Port]]) -> dict[str, RoutingResult]:
+        """Final check: re-verify all nets against the final static paths."""
+        logger.debug(f"Finalizing results for nets: {list(results.keys())}")
+        final_results = {}
+        # Ensure all nets in the netlist are present in final_results
+        for net_id in netlist:
+            res = results.get(net_id)
+            if not res or not res.path:
+                final_results[net_id] = RoutingResult(net_id, [], False, 0)
+                continue
+
+            collision_count = 0
+            for comp in res.path:
+                for poly in comp.geometry:
+                    collision_count += self.cost_evaluator.collision_engine.count_congestion(poly, net_id)
+
+            final_results[net_id] = RoutingResult(net_id, res.path, collision_count == 0, collision_count)
+
+        return final_results
+
diff --git a/inire/tests/benchmark_scaling.py b/inire/tests/benchmark_scaling.py
new file mode 100644
index 0000000..750e73f
--- /dev/null
+++ b/inire/tests/benchmark_scaling.py
@@ -0,0 +1,56 @@
+import time
+from inire.geometry.primitives import Port
+from inire.geometry.collision import CollisionEngine
+from inire.router.danger_map import DangerMap
+from inire.router.cost import CostEvaluator
+from inire.router.astar import AStarRouter
+from inire.router.pathfinder import PathFinder
+
+def benchmark_scaling() -> None:
+    print("Starting Scalability Benchmark...")
+
+    # 1. Memory Verification (20x20mm)
+    # Resolution 1um -> 20000 x 20000 grid
+    bounds = (0, 0, 20000, 20000)
+    print(f"Initializing DangerMap for {bounds} area...")
+    dm = DangerMap(bounds=bounds, resolution=1.0)
+    # nbytes for float32: 20000 * 20000 * 4 bytes = 1.6 GB
+    mem_gb = dm.grid.nbytes / (1024**3)
+    print(f"DangerMap memory usage: {mem_gb:.2f} GB")
+    assert mem_gb < 2.0
+
+    # 2. Node Expansion Rate (50 nets)
+    engine = CollisionEngine(clearance=2.0)
+    # Use a smaller area for routing benchmark to keep it fast
+    routing_bounds = (0, 0, 1000, 1000)
+    danger_map = DangerMap(bounds=routing_bounds)
+    danger_map.precompute([])
+    evaluator = CostEvaluator(engine, danger_map)
+    router = AStarRouter(evaluator)
+    pf = PathFinder(router, evaluator)
+
+    num_nets = 50
+    netlist = {}
+    for i in range(num_nets):
+        # Parallel nets spaced by 10um
+        netlist[f"net{i}"] = (Port(0, i * 10, 0), Port(100, i * 10, 0))
+
+    print(f"Routing {num_nets} nets...")
+    start_time = time.monotonic()
+    results = pf.route_all(netlist, dict.fromkeys(netlist, 2.0))
+    end_time = time.monotonic()
+
+    total_time = end_time - start_time
+    print(f"Total routing time: {total_time:.2f} s")
+    print(f"Time per net: {total_time/num_nets:.4f} s")
+
+    if total_time > 0:
+        nodes_per_sec = router.total_nodes_expanded / total_time
+        print(f"Node expansion rate: {nodes_per_sec:.2f} nodes/s")
+
+    # Success rate
+    successes = sum(1 for r in results.values() if r.is_valid)
+    print(f"Success rate: {successes/num_nets * 100:.1f}%")
+
+if __name__ == "__main__":
+    benchmark_scaling()
diff --git a/inire/tests/test_astar.py b/inire/tests/test_astar.py
new file mode 100644
index 0000000..c2b430d
--- /dev/null
+++ b/inire/tests/test_astar.py
@@ -0,0 +1,71 @@
+import pytest
+import numpy as np
+from inire.geometry.primitives import Port
+from inire.geometry.collision import CollisionEngine
+from inire.router.danger_map import DangerMap
+from inire.router.cost import CostEvaluator
+from inire.router.astar import AStarRouter
+from shapely.geometry import Polygon
+
+@pytest.fixture
+def basic_evaluator():
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=(0, 0, 100, 100))
+    danger_map.precompute([])
+    return CostEvaluator(engine, danger_map)
+
+def test_astar_straight(basic_evaluator) -> None:
+    router = AStarRouter(basic_evaluator)
+    start = Port(0, 0, 0)
+    target = Port(50, 0, 0)
+    path = router.route(start, target, net_width=2.0)
+
+    assert path is not None
+    assert len(path) > 0
+    # Final port should be target
+    assert abs(path[-1].end_port.x - 50.0) < 1e-6
+    assert path[-1].end_port.y == 0.0
+
+def test_astar_bend(basic_evaluator) -> None:
+    router = AStarRouter(basic_evaluator)
+    start = Port(0, 0, 0)
+    target = Port(20, 20, 90)
+    path = router.route(start, target, net_width=2.0)
+
+    assert path is not None
+    assert any("Bend90" in str(res) or hasattr(res, 'geometry') for res in path) # Loose check
+    assert abs(path[-1].end_port.x - 20.0) < 1e-6
+    assert abs(path[-1].end_port.y - 20.0) < 1e-6
+    assert path[-1].end_port.orientation == 90.0
+
+def test_astar_obstacle(basic_evaluator) -> None:
+    # Add an obstacle in the middle of a straight path
+    obstacle = Polygon([(20, -5), (30, -5), (30, 5), (20, 5)])
+    basic_evaluator.collision_engine.add_static_obstacle(obstacle)
+    basic_evaluator.danger_map.precompute([obstacle])
+
+    router = AStarRouter(basic_evaluator)
+    start = Port(0, 0, 0)
+    target = Port(50, 0, 0)
+    path = router.route(start, target, net_width=2.0)
+
+    assert path is not None
+    # Path should have diverted (check that it's not a single straight)
+    # The path should go around the 5um half-width obstacle.
+    # Total wire length should be > 50.
+    sum(np.sqrt((p.end_port.x - p.geometry[0].bounds[0])**2 + (p.end_port.y - p.geometry[0].bounds[1])**2) for p in path)
+    # That's a rough length estimate.
+    # Better: check that no part of the path collides.
+    for res in path:
+        for poly in res.geometry:
+            assert not poly.intersects(obstacle)
+
+def test_astar_snap_to_target_lookahead(basic_evaluator) -> None:
+    router = AStarRouter(basic_evaluator)
+    # Target is NOT on 1um grid
+    start = Port(0, 0, 0)
+    target = Port(10.005, 0, 0)
+    path = router.route(start, target, net_width=2.0)
+
+    assert path is not None
+    assert abs(path[-1].end_port.x - 10.005) < 1e-6
diff --git a/inire/tests/test_collision.py b/inire/tests/test_collision.py
new file mode 100644
index 0000000..ac5f140
--- /dev/null
+++ b/inire/tests/test_collision.py
@@ -0,0 +1,59 @@
+from shapely.geometry import Polygon
+from inire.geometry.primitives import Port
+from inire.geometry.collision import CollisionEngine
+
+def test_collision_detection() -> None:
+    # Clearance = 2um
+    engine = CollisionEngine(clearance=2.0)
+
+    # Static obstacle at (10, 10) with size 5x5
+    obstacle = Polygon([(10,10), (15,10), (15,15), (10,15)])
+    engine.add_static_obstacle(obstacle)
+
+    # Net width = 2um
+    # Dilation = (W+C)/2 = (2+2)/2 = 2.0um
+
+    # 1. Direct hit
+    test_poly = Polygon([(12,12), (13,12), (13,13), (12,13)])
+    assert engine.is_collision(test_poly, net_width=2.0) is True
+
+    # 2. Far away
+    test_poly_far = Polygon([(0,0), (5,0), (5,5), (0,5)])
+    assert engine.is_collision(test_poly_far, net_width=2.0) is False
+
+    # 3. Near hit (within clearance)
+    # Obstacle is at (10,10).
+    # test_poly is at (8,10) to (9,15).
+    # Centerline at 8.5. Distance to 10 is 1.5.
+    # Required distance (Wi+C)/2 = 2.0. Collision!
+    test_poly_near = Polygon([(8,10), (9,10), (9,15), (8,15)])
+    assert engine.is_collision(test_poly_near, net_width=2.0) is True
+
+def test_safety_zone() -> None:
+    # Use zero clearance for this test to verify the 2nm port safety zone
+    # against the physical obstacle boundary.
+    engine = CollisionEngine(clearance=0.0)
+    obstacle = Polygon([(10,10), (15,10), (15,15), (10,15)])
+    engine.add_static_obstacle(obstacle)
+
+    # Port exactly on the boundary (x=10)
+    start_port = Port(10.0, 12.0, 0.0)
+
+    # A very narrow waveguide (1nm width) that overlaps by 1nm.
+    # Overlap is from x=10 to x=10.001, y=11.9995 to 12.0005.
+    # This fits entirely within a 2nm radius of (10.0, 12.0).
+    test_poly = Polygon([(9.999, 11.9995), (10.001, 11.9995), (10.001, 12.0005), (9.999, 12.0005)])
+
+    assert engine.is_collision(test_poly, net_width=0.001, start_port=start_port) is False
+
+def test_configurable_max_net_width() -> None:
+    # Large max_net_width (10.0) -> large pre-dilation (6.0)
+    engine = CollisionEngine(clearance=2.0, max_net_width=10.0)
+    obstacle = Polygon([(20, 20), (25, 20), (25, 25), (20, 25)])
+    engine.add_static_obstacle(obstacle)
+
+    test_poly = Polygon([(15, 20), (16, 20), (16, 25), (15, 25)])
+    # physical check: dilated test_poly by C/2 = 1.0.
+    # Dilated test_poly bounds: (14, 19, 17, 26).
+    # obstacle: (20, 20, 25, 25). No physical collision.
+    assert engine.is_collision(test_poly, net_width=2.0) is False
diff --git a/inire/tests/test_components.py b/inire/tests/test_components.py
new file mode 100644
index 0000000..cb099af
--- /dev/null
+++ b/inire/tests/test_components.py
@@ -0,0 +1,75 @@
+import pytest
+from inire.geometry.primitives import Port
+from inire.geometry.components import Straight, Bend90, SBend
+
+def test_straight_generation() -> None:
+    start = Port(0, 0, 0)
+    length = 10.0
+    width = 2.0
+    result = Straight.generate(start, length, width)
+
+    # End port check
+    assert result.end_port.x == 10.0
+    assert result.end_port.y == 0.0
+    assert result.end_port.orientation == 0.0
+
+    # Geometry check
+    poly = result.geometry[0]
+    assert poly.area == length * width
+    # Check bounds
+    minx, miny, maxx, maxy = poly.bounds
+    assert minx == 0.0
+    assert maxx == 10.0
+    assert miny == -1.0
+    assert maxy == 1.0
+
+def test_bend90_generation() -> None:
+    start = Port(0, 0, 0)
+    radius = 10.0
+    width = 2.0
+    # CW bend (0 -> 270)
+    result_cw = Bend90.generate(start, radius, width, direction='CW')
+
+    # End port (center is at (0, -10))
+    # End port is at (10, -10) relative to center if it was 90-degree turn?
+    # No, from center (0, -10), start is (0, 0) which is 90 deg.
+    # Turn -90 deg -> end is at 0 deg from center -> (10, -10)
+    assert result_cw.end_port.x == 10.0
+    assert result_cw.end_port.y == -10.0
+    assert result_cw.end_port.orientation == 270.0
+
+    # CCW bend (0 -> 90)
+    result_ccw = Bend90.generate(start, radius, width, direction='CCW')
+    assert result_ccw.end_port.x == 10.0
+    assert result_ccw.end_port.y == 10.0
+    assert result_ccw.end_port.orientation == 90.0
+
+def test_sbend_generation() -> None:
+    start = Port(0, 0, 0)
+    offset = 5.0
+    radius = 10.0
+    width = 2.0
+    result = SBend.generate(start, offset, radius, width)
+
+    # End port check
+    assert result.end_port.y == 5.0
+    assert result.end_port.orientation == 0.0
+
+    # Geometry check (two arcs)
+    assert len(result.geometry) == 2
+
+    # Verify failure for large offset
+    with pytest.raises(ValueError):
+        SBend.generate(start, 25.0, 10.0, 2.0)
+
+def test_bend_snapping() -> None:
+    # Radius that results in non-integer coords
+    radius = 10.1234
+    start = Port(0, 0, 0)
+    result = Bend90.generate(start, radius, 2.0, direction='CCW')
+    # End port should be snapped to 1µm (SEARCH_GRID_SNAP_UM)
+    # ex = 10.1234, ey = 10.1234
+    # snapped: ex = 10.0, ey = 10.0 if we round to nearest 1.0?
+    # SEARCH_GRID_SNAP_UM = 1.0
+    assert result.end_port.x == 10.0
+    assert result.end_port.y == 10.0
diff --git a/inire/tests/test_congestion.py b/inire/tests/test_congestion.py
new file mode 100644
index 0000000..23f397b
--- /dev/null
+++ b/inire/tests/test_congestion.py
@@ -0,0 +1,70 @@
+import pytest
+from inire.geometry.primitives import Port
+from inire.geometry.collision import CollisionEngine
+from inire.router.danger_map import DangerMap
+from inire.router.cost import CostEvaluator
+from inire.router.astar import AStarRouter
+from inire.router.pathfinder import PathFinder
+from shapely.geometry import Polygon
+
+@pytest.fixture
+def basic_evaluator():
+    engine = CollisionEngine(clearance=2.0)
+    # Wider bounds to allow going around (y from -40 to 40)
+    danger_map = DangerMap(bounds=(0, -40, 100, 40))
+    danger_map.precompute([])
+    return CostEvaluator(engine, danger_map)
+
+def test_astar_sbend(basic_evaluator) -> None:
+    router = AStarRouter(basic_evaluator)
+    # Start at (0,0), target at (50, 3) -> 3um lateral offset
+    start = Port(0, 0, 0)
+    target = Port(50, 3, 0)
+    path = router.route(start, target, net_width=2.0)
+
+    assert path is not None
+    # Check if any component in the path is an SBend
+    found_sbend = False
+    for res in path:
+        # SBend should align us with the target y=3
+        if abs(res.end_port.y - 3.0) < 1e-6 and res.end_port.orientation == 0:
+             found_sbend = True
+    assert found_sbend
+
+def test_pathfinder_negotiated_congestion_resolution(basic_evaluator) -> None:
+    router = AStarRouter(basic_evaluator)
+    pf = PathFinder(router, basic_evaluator)
+    pf.max_iterations = 10
+
+    netlist = {
+        "net1": (Port(0, 0, 0), Port(50, 0, 0)),
+        "net2": (Port(0, 10, 0), Port(50, 10, 0))
+    }
+    net_widths = {"net1": 2.0, "net2": 2.0}
+
+    # Tiny obstacles to block net1 and net2 direct paths?
+    # No, let's block the space BETWEEN them so they must choose
+    # to either stay far apart or squeeze together.
+    # Actually, let's block their direct paths and force them
+    # into a narrow corridor that only fits ONE.
+
+    # Obstacles creating a wide wall with a narrow 2um gap at y=5.
+    # Gap y: 4 to 6. Center y=5.
+    # Net 1 (y=0) and Net 2 (y=10) both want to go to y=5 to pass.
+    # But only ONE fits at y=5.
+
+    obs_top = Polygon([(20, 6), (30, 6), (30, 30), (20, 30)])
+    obs_bottom = Polygon([(20, 4), (30, 4), (30, -30), (20, -30)])
+    basic_evaluator.collision_engine.add_static_obstacle(obs_top)
+    basic_evaluator.collision_engine.add_static_obstacle(obs_bottom)
+    basic_evaluator.danger_map.precompute([obs_top, obs_bottom])
+
+    # Increase base penalty to force detour immediately
+    pf.base_congestion_penalty = 1000.0
+
+    results = pf.route_all(netlist, net_widths)
+
+    assert results["net1"].is_valid
+    assert results["net2"].is_valid
+    assert results["net1"].collisions == 0
+    assert results["net2"].collisions == 0
diff --git a/inire/tests/test_cost.py b/inire/tests/test_cost.py
new file mode 100644
index 0000000..78f6166
--- /dev/null
+++ b/inire/tests/test_cost.py
@@ -0,0 +1,36 @@
+from shapely.geometry import Polygon
+from inire.geometry.collision import CollisionEngine
+from inire.router.danger_map import DangerMap
+from inire.router.cost import CostEvaluator
+from inire.geometry.primitives import Port
+
+def test_cost_calculation() -> None:
+    engine = CollisionEngine(clearance=2.0)
+    # 50x50 um area, 1um resolution
+    danger_map = DangerMap(bounds=(0, 0, 50, 50), resolution=1.0, safety_threshold=10.0, k=1.0)
+
+    # Add a central obstacle
+    # Grid cells are indexed from self.minx.
+    obstacle = Polygon([(20,20), (30,20), (30,30), (20,30)])
+    danger_map.precompute([obstacle])
+
+    evaluator = CostEvaluator(engine, danger_map)
+
+    # 1. Cost far from obstacle
+    cost_far = evaluator.g_proximity(5.0, 5.0)
+    assert cost_far == 0.0
+
+    # 2. Cost near obstacle (d=1.0)
+    # Cell center (20.5, 20.5) is inside. Cell (19.5, 20.5) center to boundary (20, 20.5) is 0.5.
+    # Scipy EDT gives distance to mask=False.
+    cost_near = evaluator.g_proximity(19.0, 25.0)
+    assert cost_near > 0.0
+
+    # 3. Collision cost
+    engine.add_static_obstacle(obstacle)
+    test_poly = Polygon([(22, 22), (23, 22), (23, 23), (22, 23)])
+    # end_port at (22.5, 22.5)
+    move_cost = evaluator.evaluate_move(
+        [test_poly], Port(22.5, 22.5, 0), net_width=2.0, net_id="net1"
+    )
+    assert move_cost == 1e9
diff --git a/inire/tests/test_fuzz.py b/inire/tests/test_fuzz.py
new file mode 100644
index 0000000..ab0ec69
--- /dev/null
+++ b/inire/tests/test_fuzz.py
@@ -0,0 +1,63 @@
+import pytest
+from hypothesis import given, settings, strategies as st
+from shapely.geometry import Polygon
+
+from inire.geometry.collision import CollisionEngine
+from inire.geometry.primitives import Port
+from inire.router.astar import AStarRouter
+from inire.router.cost import CostEvaluator
+from inire.router.danger_map import DangerMap
+from inire.router.pathfinder import RoutingResult
+from inire.utils.validation import validate_routing_result
+
+
+@st.composite
+def random_obstacle(draw):
+    x = draw(st.floats(min_value=0, max_value=20))
+    y = draw(st.floats(min_value=0, max_value=20))
+    w = draw(st.floats(min_value=1, max_value=5))
+    h = draw(st.floats(min_value=1, max_value=5))
+    return Polygon([(x, y), (x + w, y), (x + w, y + h), (x, y + h)])
+
+
+@st.composite
+def random_port(draw):
+    x = draw(st.floats(min_value=0, max_value=20))
+    y = draw(st.floats(min_value=0, max_value=20))
+    orientation = draw(st.sampled_from([0, 90, 180, 270]))
+    return Port(x, y, orientation)
+
+
+@settings(max_examples=3, deadline=None)
+@given(obstacles=st.lists(random_obstacle(), min_size=0, max_size=3), start=random_port(), target=random_port())
+def test_fuzz_astar_no_crash(obstacles, start, target) -> None:
+    engine = CollisionEngine(clearance=2.0)
+    for obs in obstacles:
+        engine.add_static_obstacle(obs)
+
+    danger_map = DangerMap(bounds=(0, 0, 30, 30))
+    danger_map.precompute(obstacles)
+
+    evaluator = CostEvaluator(engine, danger_map)
+    router = AStarRouter(evaluator)
+    router.node_limit = 5000  # Lower limit for fuzzing stability
+
+    # Check if start/target are inside obstacles (safety zone check)
+    # The router should handle this gracefully (either route or return None)
+    try:
+        path = router.route(start, target, net_width=2.0)
+
+        # Analytic Correctness: if path is returned, verify it's collision-free
+        if path:
+            result = RoutingResult(net_id="default", path=path, is_valid=True, collisions=0)
+            validation = validate_routing_result(
+                result,
+                obstacles,
+                clearance=2.0,
+                start_port_coord=(start.x, start.y),
+                end_port_coord=(target.x, target.y),
+            )
+            assert validation["is_valid"], f"Validation failed: {validation.get('reason')}"
+    except Exception as e:
+        # Unexpected exceptions are failures
+        pytest.fail(f"Router crashed with {type(e).__name__}: {e}")
diff --git a/inire/tests/test_pathfinder.py b/inire/tests/test_pathfinder.py
new file mode 100644
index 0000000..ec7267e
--- /dev/null
+++ b/inire/tests/test_pathfinder.py
@@ -0,0 +1,51 @@
+import pytest
+from inire.geometry.primitives import Port
+from inire.geometry.collision import CollisionEngine
+from inire.router.danger_map import DangerMap
+from inire.router.cost import CostEvaluator
+from inire.router.astar import AStarRouter
+from inire.router.pathfinder import PathFinder
+
+@pytest.fixture
+def basic_evaluator():
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=(0, 0, 100, 100))
+    danger_map.precompute([])
+    return CostEvaluator(engine, danger_map)
+
+def test_pathfinder_parallel(basic_evaluator) -> None:
+    router = AStarRouter(basic_evaluator)
+    pf = PathFinder(router, basic_evaluator)
+
+    netlist = {
+        "net1": (Port(0, 0, 0), Port(50, 0, 0)),
+        "net2": (Port(0, 10, 0), Port(50, 10, 0))
+    }
+    net_widths = {"net1": 2.0, "net2": 2.0}
+
+    results = pf.route_all(netlist, net_widths)
+
+    assert results["net1"].is_valid
+    assert results["net2"].is_valid
+    assert results["net1"].collisions == 0
+    assert results["net2"].collisions == 0
+
+def test_pathfinder_congestion(basic_evaluator) -> None:
+    router = AStarRouter(basic_evaluator)
+    pf = PathFinder(router, basic_evaluator)
+
+    # Net1 blocks Net2
+    netlist = {
+        "net1": (Port(0, 0, 0), Port(50, 0, 0)),
+        "net2": (Port(25, -10, 90), Port(25, 10, 90))
+    }
+    net_widths = {"net1": 2.0, "net2": 2.0}
+
+    results = pf.route_all(netlist, net_widths)
+
+    # Verify both nets are valid and collision-free
+    assert results["net1"].is_valid
+    assert results["net2"].is_valid
+    assert results["net1"].collisions == 0
+    assert results["net2"].collisions == 0
+
diff --git a/inire/tests/test_primitives.py b/inire/tests/test_primitives.py
new file mode 100644
index 0000000..6493682
--- /dev/null
+++ b/inire/tests/test_primitives.py
@@ -0,0 +1,43 @@
+from hypothesis import given, strategies as st
+from inire.geometry.primitives import Port, translate_port, rotate_port
+
+@st.composite
+def port_strategy(draw):
+    x = draw(st.floats(min_value=-1e6, max_value=1e6))
+    y = draw(st.floats(min_value=-1e6, max_value=1e6))
+    orientation = draw(st.sampled_from([0, 90, 180, 270]))
+    return Port(x, y, orientation)
+
+def test_port_snapping() -> None:
+    p = Port(0.123456, 0.654321, 90)
+    assert p.x == 0.123
+    assert p.y == 0.654
+    assert p.orientation == 90.0
+
+@given(p=port_strategy())
+def test_port_transform_invariants(p) -> None:
+    # Rotating 90 degrees 4 times should return to same orientation
+    p_rot = p
+    for _ in range(4):
+        p_rot = rotate_port(p_rot, 90)
+
+    assert p_rot.orientation == p.orientation
+    # Coordinates should be close (floating point error) but snapped to 1nm
+    assert abs(p_rot.x - p.x) < 1e-9
+    assert abs(p_rot.y - p.y) < 1e-9
+
+@given(p=port_strategy(), dx=st.floats(min_value=-1000, max_value=1000), dy=st.floats(min_value=-1000, max_value=1000))
+def test_translate_snapping(p, dx, dy) -> None:
+    p_trans = translate_port(p, dx, dy)
+    # Check that snapped result is indeed multiple of GRID_SNAP_UM (0.001 um = 1nm)
+    # Multiplication is more stable for this check
+    assert abs(p_trans.x * 1000 - round(p_trans.x * 1000)) < 1e-6
+    assert abs(p_trans.y * 1000 - round(p_trans.y * 1000)) < 1e-6
+
+def test_orientation_normalization() -> None:
+    p = Port(0, 0, 360)
+    assert p.orientation == 0.0
+    p2 = Port(0, 0, -90)
+    assert p2.orientation == 270.0
+    p3 = Port(0, 0, 95) # Should snap to 90
+    assert p3.orientation == 90.0
diff --git a/inire/tests/test_refinements.py b/inire/tests/test_refinements.py
new file mode 100644
index 0000000..a76ddbc
--- /dev/null
+++ b/inire/tests/test_refinements.py
@@ -0,0 +1,60 @@
+from inire.geometry.primitives import Port
+from inire.geometry.collision import CollisionEngine
+from inire.router.danger_map import DangerMap
+from inire.router.cost import CostEvaluator
+from inire.router.astar import AStarRouter
+from inire.router.pathfinder import PathFinder
+from inire.geometry.components import Bend90
+
+def test_arc_resolution_sagitta() -> None:
+    start = Port(0, 0, 0)
+    # R=10, 90 deg bend.
+    # High tolerance (0.5um) -> few segments
+    res_coarse = Bend90.generate(start, radius=10.0, width=2.0, sagitta=0.5)
+    # Low tolerance (0.001um = 1nm) -> many segments
+    res_fine = Bend90.generate(start, radius=10.0, width=2.0, sagitta=0.001)
+
+    # Check number of points in the polygon exterior
+    # (num_segments + 1) * 2 points usually
+    pts_coarse = len(res_coarse.geometry[0].exterior.coords)
+    pts_fine = len(res_fine.geometry[0].exterior.coords)
+
+    assert pts_fine > pts_coarse
+
+def test_locked_paths() -> None:
+    engine = CollisionEngine(clearance=2.0)
+    danger_map = DangerMap(bounds=(0, -50, 100, 50))
+    danger_map.precompute([])
+    evaluator = CostEvaluator(engine, danger_map)
+    router = AStarRouter(evaluator)
+    pf = PathFinder(router, evaluator)
+
+    # 1. Route Net A
+    netlist_a = {"netA": (Port(0, 0, 0), Port(50, 0, 0))}
+    results_a = pf.route_all(netlist_a, {"netA": 2.0})
+    assert results_a["netA"].is_valid
+
+    # 2. Lock Net A
+    engine.lock_net("netA")
+
+    # 3. Route Net B through the same space. It should detour or fail.
+    # We'll place Net B's start/target such that it MUST cross Net A's physical path.
+    netlist_b = {"netB": (Port(0, -5, 0), Port(50, 5, 0))}
+
+    # Route Net B
+    results_b = pf.route_all(netlist_b, {"netB": 2.0})
+
+    # Net B should be is_valid (it detoured) or at least not have collisions
+    # with Net A in the dynamic set (because netA is now static).
+    # Since netA is static, netB will see it as a HARD collision if it tries to cross.
+    # Our A* will find a detour around the static obstacle.
+    assert results_b["netB"].is_valid
+
+    # Verify geometry doesn't intersect locked netA (physical check)
+    poly_a = [p.geometry[0] for p in results_a["netA"].path]
+    poly_b = [p.geometry[0] for p in results_b["netB"].path]
+
+    for pa in poly_a:
+        for pb in poly_b:
+            # Check physical clearance
+            assert not pa.buffer(1.0).intersects(pb.buffer(1.0))
diff --git a/inire/utils/validation.py b/inire/utils/validation.py
new file mode 100644
index 0000000..ab577e6
--- /dev/null
+++ b/inire/utils/validation.py
@@ -0,0 +1,57 @@
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+from shapely.geometry import Point
+from shapely.ops import unary_union
+
+if TYPE_CHECKING:
+    from shapely.geometry import Polygon
+
+    from inire.router.pathfinder import RoutingResult
+
+
+def validate_routing_result(
+    result: RoutingResult,
+    static_obstacles: list[Polygon],
+    clearance: float,
+    start_port_coord: tuple[float, float] | None = None,
+    end_port_coord: tuple[float, float] | None = None,
+) -> dict[str, any]:
+    """
+    Perform a high-precision validation of a routed path.
+    Returns a dictionary with validation results.
+    """
+    if not result.path:
+        return {"is_valid": False, "reason": "No path found"}
+
+    collision_geoms = []
+    # High-precision safety zones
+    safe_zones = []
+    if start_port_coord:
+        safe_zones.append(Point(start_port_coord).buffer(0.002))
+    if end_port_coord:
+        safe_zones.append(Point(end_port_coord).buffer(0.002))
+    safe_poly = unary_union(safe_zones) if safe_zones else None
+
+    # Buffer by C/2
+    dilation = clearance / 2.0
+
+    for comp in result.path:
+        for poly in comp.geometry:
+            dilated = poly.buffer(dilation)
+            for obs in static_obstacles:
+                if dilated.intersects(obs):
+                    intersection = dilated.intersection(obs)
+                    if safe_poly:
+                        # Remove safe zones from intersection
+                        intersection = intersection.difference(safe_poly)
+
+                    if not intersection.is_empty and intersection.area > 1e-9:
+                        collision_geoms.append(intersection)
+
+    return {
+        "is_valid": len(collision_geoms) == 0,
+        "collisions": collision_geoms,
+        "collision_count": len(collision_geoms),
+    }
diff --git a/inire/utils/visualization.py b/inire/utils/visualization.py
new file mode 100644
index 0000000..f833f7d
--- /dev/null
+++ b/inire/utils/visualization.py
@@ -0,0 +1,45 @@
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+import matplotlib.pyplot as plt
+
+if TYPE_CHECKING:
+    from matplotlib.axes import Axes
+    from matplotlib.figure import Figure
+    from shapely.geometry import Polygon
+
+    from inire.router.pathfinder import RoutingResult
+
+
+def plot_routing_results(
+    results: dict[str, RoutingResult],
+    static_obstacles: list[Polygon],
+    bounds: tuple[float, float, float, float],
+) -> tuple[Figure, Axes]:
+    """Plot obstacles and routed paths using matplotlib."""
+    fig, ax = plt.subplots(figsize=(10, 10))
+
+    # Plot static obstacles (gray)
+    for poly in static_obstacles:
+        x, y = poly.exterior.xy
+        ax.fill(x, y, alpha=0.5, fc="gray", ec="black")
+
+    # Plot paths
+    colors = plt.get_cmap("tab10")
+    for i, (net_id, res) in enumerate(results.items()):
+        color = colors(i)
+        if not res.is_valid:
+            color = "red"  # Highlight failing nets
+
+        for comp in res.path:
+            for poly in comp.geometry:
+                x, y = poly.exterior.xy
+                ax.fill(x, y, alpha=0.7, fc=color, ec="black", label=net_id if i == 0 else "")
+
+    ax.set_xlim(bounds[0], bounds[2])
+    ax.set_ylim(bounds[1], bounds[3])
+    ax.set_aspect("equal")
+    ax.set_title("Inire Routing Results")
+    plt.grid(True)
+    return fig, ax
diff --git a/pyproject.toml b/pyproject.toml
index 869b0a4..88dda4a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "inire"
-description = "Wave-router"
+description = "Wave-router: Auto-routing for photonic and RF integrated circuits"
 readme = "README.md"
 requires-python = ">=3.11"
 license = { file = "LICENSE.md" }
@@ -9,22 +9,6 @@ authors = [
     ]
 homepage = "https://mpxd.net/code/jan/inire"
 repository = "https://mpxd.net/code/jan/inire"
-keywords = [
-    "layout",
-    "CAD",
-    "EDA",
-    "mask",
-    "pattern",
-    "lithography",
-    "oas",
-    "gds",
-    "dxf",
-    "svg",
-    "OASIS",
-    "gdsii",
-    "gds2",
-    "stream",
-    ]
 classifiers = [
     "Programming Language :: Python :: 3",
     "Development Status :: 4 - Beta",
@@ -36,10 +20,17 @@ classifiers = [
     "Topic :: Scientific/Engineering :: Electronic Design Automation (EDA)",
     ]
 dynamic = ["version"]
-dependencies = []
+dependencies = [
+    "numpy",
+    "scipy",
+    "shapely",
+    "rtree",
+    "matplotlib",
+]
 
 [dependency-groups]
 dev = [
+    "hypothesis>=6.151.9",
     "matplotlib>=3.10.8",
     "pytest>=9.0.2",
     "ruff>=0.15.5",
@@ -79,7 +70,7 @@ lint.ignore = [
     "C408",     # dict(x=y) instead of {'x': y}
     "PLR09",    # Too many xxx
     "PLR2004",  # magic number
-    "PLC0414",  # import x as x
+    #"PLC0414",  # import x as x
     "TRY003",   # Long exception message
     ]
 
diff --git a/uv.lock b/uv.lock
index d2a15c4..9f09a81 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,5 +1,5 @@
 version = 1
-requires-python = ">=3.13"
+requires-python = ">=3.11"
 
 [[package]]
 name = "colorama"
@@ -19,6 +19,28 @@ dependencies = [
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/58/01/1253e6698a07380cd31a736d248a3f2a50a7c88779a1813da27503cadc2a/contourpy-1.3.3.tar.gz", hash = "sha256:083e12155b210502d0bca491432bb04d56dc3432f95a979b429f2848c3dbe880", size = 13466174 }
 wheels = [
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+version = "6.151.9"
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 name = "inire"
-version = "0.1.0"
-source = { virtual = "." }
+source = { editable = "." }
+dependencies = [
+    { name = "matplotlib" },
+    { name = "numpy" },
+    { name = "rtree" },
+    { name = "shapely" },
+]
 
 [package.dev-dependencies]
 dev = [
+    { name = "hypothesis" },
     { name = "matplotlib" },
     { name = "pytest" },
     { name = "ruff" },
 ]
 
 [package.metadata]
+requires-dist = [
+    { name = "matplotlib" },
+    { name = "numpy" },
+    { name = "rtree" },
+    { name = "shapely" },
+]
 
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     { name = "pytest", specifier = ">=9.0.2" },
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