66 lines
2.7 KiB
Python
66 lines
2.7 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 08: Custom Bend Geometry Models...")
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bounds = (0, 0, 150, 150)
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engine = CollisionEngine(clearance=2.0)
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# Static obstacle to force specific bend paths
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obstacle = Polygon([(60, 40), (90, 40), (90, 110), (60, 110)])
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engine.add_static_obstacle(obstacle)
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danger_map = DangerMap(bounds=bounds)
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danger_map.precompute([obstacle])
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evaluator = CostEvaluator(engine, danger_map)
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# We will route three nets, each with a DIFFERENT collision model
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# To do this cleanly with the current architecture, we'll use one router
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# but change its config per route call (or use tiered escalation in PathFinder).
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# Since AStarRouter.route now accepts bend_collision_type, we can do it directly.
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router = AStarRouter(evaluator)
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pf = PathFinder(router, evaluator)
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netlist = {
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"model_arc": (Port(10, 130, 0), Port(130, 100, -90)),
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"model_bbox": (Port(10, 80, 0), Port(130, 50, -90)),
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"model_clipped": (Port(10, 30, 0), Port(130, 10, -90)),
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}
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net_widths = {nid: 2.0 for nid in netlist}
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# Manual routing to specify different models per net
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results = {}
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print("Routing with 'arc' model...")
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results["model_arc"] = pf.router.route(netlist["model_arc"][0], netlist["model_arc"][1], 2.0,
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net_id="model_arc", bend_collision_type="arc")
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print("Routing with 'bbox' model...")
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results["model_bbox"] = pf.router.route(netlist["model_bbox"][0], netlist["model_bbox"][1], 2.0,
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net_id="model_bbox", bend_collision_type="bbox")
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print("Routing with 'clipped_bbox' model...")
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results["model_clipped"] = pf.router.route(netlist["model_clipped"][0], netlist["model_clipped"][1], 2.0,
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net_id="model_clipped", bend_collision_type="clipped_bbox")
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# Wrap in RoutingResult for visualization
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from inire.router.pathfinder import RoutingResult
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final_results = {
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nid: RoutingResult(nid, path if path else [], path is not None, 0)
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for nid, path in results.items()
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}
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fig, ax = plot_routing_results(final_results, [obstacle], bounds, netlist=netlist)
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fig.savefig("examples/08_custom_bend_geometry.png")
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print("Saved plot to examples/08_custom_bend_geometry.png")
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if __name__ == "__main__":
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main()
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