70 lines
3.1 KiB
Python
70 lines
3.1 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 06: Bend Collision Models...")
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# 1. Setup Environment
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# Give room for 10um bends near the edges
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bounds = (-20, -20, 170, 170)
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engine = CollisionEngine(clearance=2.0)
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danger_map = DangerMap(bounds=bounds)
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# Create three scenarios with identical obstacles
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# We'll space them out vertically
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obs_arc = Polygon([(40, 110), (60, 110), (60, 130), (40, 130)])
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obs_bbox = Polygon([(40, 60), (60, 60), (60, 80), (40, 80)])
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obs_clipped = Polygon([(40, 10), (60, 10), (60, 30), (40, 30)])
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obstacles = [obs_arc, obs_bbox, obs_clipped]
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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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# We'll run three separate routers since collision_type is a router-level config
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evaluator = CostEvaluator(engine, danger_map, bend_penalty=50.0, sbend_penalty=150.0)
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# Scenario 1: Standard 'arc' model (High fidelity)
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router_arc = AStarRouter(evaluator, snap_size=1.0, bend_radii=[10.0], bend_collision_type="arc")
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netlist_arc = {"arc_model": (Port(10, 120, 0), Port(90, 140, 90))}
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# Scenario 2: 'bbox' model (Conservative axis-aligned box)
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router_bbox = AStarRouter(evaluator, snap_size=1.0, bend_radii=[10.0], bend_collision_type="bbox")
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netlist_bbox = {"bbox_model": (Port(10, 70, 0), Port(90, 90, 90))}
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# Scenario 3: 'clipped_bbox' model (Balanced)
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router_clipped = AStarRouter(evaluator, snap_size=1.0, bend_radii=[10.0], bend_collision_type="clipped_bbox", bend_clip_margin=1.0)
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netlist_clipped = {"clipped_model": (Port(10, 20, 0), Port(90, 40, 90))}
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# 2. Route each scenario
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print("Routing Scenario 1 (Arc)...")
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res_arc = PathFinder(router_arc, evaluator, use_tiered_strategy=False).route_all(netlist_arc, {"arc_model": 2.0})
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print("Routing Scenario 2 (BBox)...")
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res_bbox = PathFinder(router_bbox, evaluator, use_tiered_strategy=False).route_all(netlist_bbox, {"bbox_model": 2.0})
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print("Routing Scenario 3 (Clipped BBox)...")
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res_clipped = PathFinder(router_clipped, evaluator, use_tiered_strategy=False).route_all(netlist_clipped, {"clipped_model": 2.0})
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# 3. Combine results for visualization
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all_results = {**res_arc, **res_bbox, **res_clipped}
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all_netlists = {**netlist_arc, **netlist_bbox, **netlist_clipped}
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# 4. Visualize
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# Note: plot_routing_results will show the 'collision geometry' used by the router
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# since that's what's stored in res.path[i].geometry
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fig, ax = plot_routing_results(all_results, obstacles, bounds, netlist=all_netlists)
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fig.savefig("examples/06_bend_collision_models.png")
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print("Saved plot to examples/06_bend_collision_models.png")
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if __name__ == "__main__":
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main()
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