81 lines
2.6 KiB
Python
81 lines
2.6 KiB
Python
from shapely.geometry import Polygon
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from inire.geometry.collision import CollisionEngine
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from inire.geometry.primitives import Port
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from inire.router.astar import AStarRouter
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from inire.router.config import CostConfig, RouterConfig
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from inire.router.cost import CostEvaluator
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from inire.router.danger_map import DangerMap
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from inire.router.pathfinder import PathFinder
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from inire.utils.visualization import plot_routing_results
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def main() -> None:
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print("Running Example 04: S-Bends and Multiple Radii...")
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# 1. Setup Environment
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bounds = (0, 0, 150, 100)
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engine = CollisionEngine(clearance=2.0)
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danger_map = DangerMap(bounds=bounds)
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# Create obstacles that force S-bends and turns
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# Obstacle 1: Forces a vertical jog (S-bend)
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obs1 = Polygon([(40, 20), (60, 20), (60, 60), (40, 60)])
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# Obstacle 2: Forces a large radius turn
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obs2 = Polygon([(80, 0), (100, 0), (100, 40), (80, 40)])
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obstacles = [obs1, obs2]
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for obs in obstacles:
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engine.add_static_obstacle(obs)
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danger_map.precompute(obstacles)
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# 2. Configure Router with custom parameters (Directly via constructor)
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evaluator = CostEvaluator(
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engine,
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danger_map,
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unit_length_cost=1.0,
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greedy_h_weight=1.2,
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)
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router = AStarRouter(
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evaluator,
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node_limit=500000,
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bend_radii=[10.0, 30.0], # Allow standard and large bends
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sbend_offsets=[-10.0, -5.0, 5.0, 10.0], # Allow larger S-bend offsets
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sbend_radii=[20.0, 50.0], # Large S-bends
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bend_penalty=10.0, # Lower penalty to encourage using the right bend
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)
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pf = PathFinder(router, evaluator)
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# 3. Define Netlist
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# Net 1: Needs to S-bend around obs1 (gap at y=60-100? No, obs1 is y=20-60).
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# Start at (10, 40), End at (140, 40).
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# Obstacle 1 blocks 40-60. Net must go above or below.
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# Obstacle 2 blocks 80-100 x 0-40.
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# Let's force a path that requires a large bend.
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netlist = {
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"large_bend_net": (Port(10, 10, 0), Port(140, 80, 0)),
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"sbend_net": (Port(10, 50, 0), Port(70, 70, 0)),
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}
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net_widths = {"large_bend_net": 2.0, "sbend_net": 2.0}
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# 4. Route
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results = pf.route_all(netlist, net_widths)
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# 5. Check Results
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for nid, res in results.items():
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status = "Success" if res.is_valid else "Failed"
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print(f"{nid}: {status}, collisions={res.collisions}")
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# 6. Visualize
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fig, ax = plot_routing_results(results, obstacles, bounds)
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fig.savefig("examples/sbends_radii.png")
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print("Saved plot to examples/sbends_radii.png")
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if __name__ == "__main__":
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main()
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