79 lines
2.5 KiB
Python
79 lines
2.5 KiB
Python
from shapely.geometry import Polygon
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from inire import CongestionOptions, NetSpec, RoutingOptions, RoutingProblem, SearchOptions
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from inire.geometry.collision import RoutingWorld
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from inire.geometry.primitives import Port
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from inire.router._astar_types import AStarContext, AStarMetrics
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from inire.router._router import PathFinder
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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.utils.visualization import plot_routing_results
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def main() -> None:
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print("Running Example 08: Custom Bend Geometry...")
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bounds = (0, 0, 150, 150)
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engine = RoutingWorld(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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metrics = AStarMetrics()
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start = Port(20, 20, 0)
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target = Port(100, 100, 90)
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print("Routing with standard arc...")
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results_std = PathFinder(
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AStarContext(
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evaluator,
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RoutingProblem(
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bounds=bounds,
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nets=(NetSpec("custom_bend", start, target, width=2.0),),
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),
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RoutingOptions(
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search=SearchOptions(bend_radii=(10.0,), sbend_radii=()),
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congestion=CongestionOptions(max_iterations=1),
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),
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),
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metrics=metrics,
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).route_all()
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custom_poly = Polygon([(-10, -10), (10, -10), (10, 10), (-10, 10)])
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print("Routing with custom collision model...")
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results_custom = PathFinder(
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AStarContext(
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evaluator,
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RoutingProblem(
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bounds=bounds,
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nets=(NetSpec("custom_model", start, target, width=2.0),),
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),
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RoutingOptions(
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search=SearchOptions(
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bend_radii=(10.0,),
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bend_collision_type=custom_poly,
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sbend_radii=(),
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),
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congestion=CongestionOptions(max_iterations=1, use_tiered_strategy=False),
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),
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),
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metrics=AStarMetrics(),
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use_tiered_strategy=False,
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).route_all()
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all_results = {**results_std, **results_custom}
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fig, _ax = plot_routing_results(
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all_results,
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[],
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bounds,
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netlist={
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"custom_bend": (start, target),
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"custom_model": (start, target),
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},
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)
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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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