59 lines
2 KiB
Python
59 lines
2 KiB
Python
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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from shapely.geometry import box
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def main() -> None:
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print("Running Example 09: Best-Effort (Unroutable Net)...")
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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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# Create a 'cage' that completely blocks the target
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cage = [
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box(70, 30, 75, 70), # Left wall
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box(70, 70, 95, 75), # Top wall
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box(70, 25, 95, 30), # Bottom wall
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]
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for obs in cage:
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engine.add_static_obstacle(obs)
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danger_map = DangerMap(bounds=bounds)
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danger_map.precompute(cage)
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evaluator = CostEvaluator(engine, danger_map, bend_penalty=50.0, sbend_penalty=150.0)
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# Use a low node limit to fail faster
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router = AStarRouter(evaluator, node_limit=2000, snap_size=1.0, bend_radii=[10.0])
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# Enable partial path return
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pf = PathFinder(router, evaluator)
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# 2. Define Netlist: start outside, target inside the cage
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netlist = {
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"trapped_net": (Port(10, 50, 0), Port(85, 50, 0)),
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}
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net_widths = {"trapped_net": 2.0}
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# 3. Route
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print("Routing net into a cage (should fail and return partial)...")
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results = pf.route_all(netlist, net_widths)
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# 4. Check Results
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res = results["trapped_net"]
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if not res.is_valid:
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print(f"Net failed to route as expected. Partial path length: {len(res.path)} segments.")
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else:
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print("Wait, it found a way in? Check the cage geometry!")
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# 5. Visualize
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fig, ax = plot_routing_results(results, cage, bounds, netlist=netlist)
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fig.savefig("examples/09_unroutable_best_effort.png")
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print("Saved plot to examples/09_unroutable_best_effort.png")
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if __name__ == "__main__":
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main()
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