63 lines
2.3 KiB
Python
63 lines
2.3 KiB
Python
from shapely.geometry import Polygon
|
|
|
|
from inire.geometry.collision import CollisionEngine
|
|
from inire.geometry.primitives import Port
|
|
from inire.router.astar import AStarRouter
|
|
from inire.router.cost import CostEvaluator
|
|
from inire.router.danger_map import DangerMap
|
|
from inire.router.pathfinder import PathFinder
|
|
from inire.utils.visualization import plot_routing_results
|
|
|
|
|
|
def main() -> None:
|
|
print("Running Example 03: Locked Paths...")
|
|
|
|
# 1. Setup Environment
|
|
bounds = (0, 0, 100, 100)
|
|
engine = CollisionEngine(clearance=2.0)
|
|
danger_map = DangerMap(bounds=bounds)
|
|
danger_map.precompute([])
|
|
|
|
evaluator = CostEvaluator(engine, danger_map, bend_penalty=50.0, sbend_penalty=150.0)
|
|
router = AStarRouter(evaluator, snap_size=1.0, straight_lengths=[1.0, 5.0, 25.0], bend_radii=[10.0])
|
|
pf = PathFinder(router, evaluator)
|
|
|
|
# 2. Add a 'Pre-routed' net and lock it
|
|
# Net 'fixed' goes right through the middle
|
|
fixed_start = Port(10, 50, 0)
|
|
fixed_target = Port(90, 50, 0)
|
|
|
|
print("Routing initial net...")
|
|
res_fixed = router.route(fixed_start, fixed_target, net_width=2.0)
|
|
|
|
if res_fixed:
|
|
# 3. Lock this net! It now behaves like a static obstacle
|
|
geoms = [comp.geometry[0] for comp in res_fixed]
|
|
engine.add_path("locked_net", geoms)
|
|
engine.lock_net("locked_net")
|
|
print("Initial net locked as static obstacle.")
|
|
|
|
# Update danger map to reflect the new static obstacle
|
|
danger_map.precompute(list(engine.static_geometries.values()))
|
|
|
|
# 4. Route a new net that must detour around the locked one
|
|
netlist = {
|
|
"detour_net": (Port(50, 10, 90), Port(50, 90, 90)),
|
|
}
|
|
net_widths = {"detour_net": 2.0}
|
|
|
|
print("Routing detour net around locked path...")
|
|
results = pf.route_all(netlist, net_widths)
|
|
|
|
# 5. Visualize
|
|
# Add the locked net back to results for display
|
|
from inire.router.pathfinder import RoutingResult
|
|
display_results = {**results, "locked_net": RoutingResult("locked_net", res_fixed or [], True, 0)}
|
|
|
|
fig, ax = plot_routing_results(display_results, list(engine.static_geometries.values()), bounds, netlist=netlist)
|
|
fig.savefig("examples/03_locked_paths.png")
|
|
print("Saved plot to examples/03_locked_paths.png")
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|