63 lines
2.2 KiB
Python
63 lines
2.2 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.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 03: Locked Paths...")
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# 1. Setup Environment
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bounds = (0, 0, 100, 100)
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engine = CollisionEngine(clearance=2.0)
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danger_map = DangerMap(bounds=bounds)
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danger_map.precompute([])
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evaluator = CostEvaluator(engine, danger_map, bend_penalty=50.0, sbend_penalty=150.0)
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router = AStarRouter(evaluator, snap_size=1.0, bend_radii=[10.0])
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pf = PathFinder(router, evaluator)
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# 2. Add a 'Pre-routed' net and lock it
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# Net 'fixed' goes right through the middle
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fixed_start = Port(10, 50, 0)
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fixed_target = Port(90, 50, 0)
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print("Routing initial net...")
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res_fixed = router.route(fixed_start, fixed_target, net_width=2.0)
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if res_fixed:
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# 3. Lock this net! It now behaves like a static obstacle
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geoms = [comp.geometry[0] for comp in res_fixed]
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engine.add_path("locked_net", geoms)
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engine.lock_net("locked_net")
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print("Initial net locked as static obstacle.")
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# Update danger map to reflect the new static obstacle
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danger_map.precompute(list(engine.static_geometries.values()))
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# 4. Route a new net that must detour around the locked one
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netlist = {
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"detour_net": (Port(50, 10, 90), Port(50, 90, 90)),
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}
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net_widths = {"detour_net": 2.0}
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print("Routing detour net around locked path...")
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results = pf.route_all(netlist, net_widths)
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# 5. Visualize
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# Add the locked net back to results for display
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from inire.router.pathfinder import RoutingResult
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display_results = {**results, "locked_net": RoutingResult("locked_net", res_fixed or [], True, 0)}
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fig, ax = plot_routing_results(display_results, list(engine.static_geometries.values()), bounds, netlist=netlist)
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fig.savefig("examples/03_locked_paths.png")
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print("Saved plot to examples/03_locked_paths.png")
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if __name__ == "__main__":
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main()
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