[AutoTool] rework two-L routing to avoid some bugs with incorrect transitions

masque/builder/tools.py

@@ -791,39 +791,32 @@ class AutoTool(Tool, metaclass=ABCMeta):
         Solve for a path consisting of two L-bends connected by a straight segment.
         Used for both U-turns (ccw1 == ccw2) and S-bends (ccw1 != ccw2).
         """
-        for plan1 in self._iter_l_plans(ccw1, in_ptype, None):
-            for plan2 in self._iter_l_plans(ccw2, plan1.out_ptype, out_ptype):
-                # Solving for:
-                # X = L1_total +/- R2_actual = length
-                # Y = R1_actual + L2_straight + overhead_mid + overhead_b2 + L3_total = jog
-
-                # Sign for overhead_y2 depends on whether it's a U-turn or S-bend
         is_u = bool(ccw1) == bool(ccw2)
-                # U-turn: X = L1_total - R2 = length  => L1_total = length + R2
-                # S-bend: X = L1_total + R2 = length  => L1_total = length - R2
-                l1_total = length + (abs(plan2.overhead_y) if is_u else -abs(plan2.overhead_y))
-                l1_straight = l1_total - plan1.overhead_x
+        out_rot = 0 if is_u else pi
 
+        for plan1 in self._iter_l_plans(ccw1, in_ptype, None):
+            rot_mid = rotation_matrix_2d(pi + plan1.bend_angle)
+            mid_axis = rot_mid @ numpy.array((1.0, 0.0))
+            if not numpy.isclose(mid_axis[0], 0) or numpy.isclose(mid_axis[1], 0):
+                continue
 
-                if plan1.straight.length_range[0] <= l1_straight < plan1.straight.length_range[1]:
             for straight_mid in self.straights:
-                        # overhead_mid accounts for the transition from bend1 to straight_mid
                 mid_ptype_pair = (plan1.out_ptype, straight_mid.ptype)
                 mid_trans = self.transitions.get(mid_ptype_pair, None)
                 mid_trans_dxy = self._itransition2dxy(mid_trans)
 
-                        # b_trans2 accounts for the transition from straight_mid to bend2
-                        b2_trans = None
-                        if plan2.bend is not None and plan2.bend.in_port.ptype != straight_mid.ptype:
-                            b2_trans = self.transitions.get((plan2.bend.in_port.ptype, straight_mid.ptype), None)
-                        b2_trans_dxy = self._itransition2dxy(b2_trans)
+                for plan2 in self._iter_l_plans(ccw2, straight_mid.ptype, out_ptype):
+                    fixed_dxy = numpy.array((plan1.overhead_x, plan1.overhead_y))
+                    fixed_dxy += rot_mid @ (
+                        mid_trans_dxy
+                        + numpy.array((plan2.overhead_x, plan2.overhead_y))
+                        )
 
-                        l2_straight = abs(jog) - abs(plan1.overhead_y) - plan2.overhead_x - mid_trans_dxy[0] - b2_trans_dxy[0]
+                    l1_straight = length - fixed_dxy[0]
+                    l2_straight = (jog - fixed_dxy[1]) / mid_axis[1]
 
-                        if straight_mid.length_range[0] <= l2_straight < straight_mid.length_range[1]:
-                            # Found a solution!
-                            # For plan2, we assume l3_straight = 0.
-                            # We need to verify if l3=0 is valid for plan2.straight.
+                    if plan1.straight.length_range[0] <= l1_straight < plan1.straight.length_range[1] \
+                            and straight_mid.length_range[0] <= l2_straight < straight_mid.length_range[1]:
                         l3_straight = 0
                         if plan2.straight.length_range[0] <= l3_straight < plan2.straight.length_range[1]:
                             ldata0 = self.LData(
@@ -832,12 +825,10 @@ class AutoTool(Tool, metaclass=ABCMeta):
                                 )
                             ldata1 = self.LData(
                                 l3_straight, plan2.straight, kwargs, ccw2, plan2.bend,
-                                    b2_trans, None, plan2.out_trans,
+                                plan2.in_trans, plan2.b_trans, plan2.out_trans,
                                 )
 
                             data = self.UData(ldata0, ldata1, straight_mid, l2_straight, mid_trans)
-                                # out_port is at (length, jog) rot pi (for S-bend) or 0 (for U-turn) relative to input
-                                out_rot = 0 if is_u else pi
                             out_port = Port((length, jog), rotation=out_rot, ptype=plan2.out_ptype)
                             return out_port, data
         raise BuildError(f"Failed to find a valid double-L configuration for {length=}, {jog=}")

masque/test/test_autotool_refactor.py

@@ -60,6 +60,60 @@ def multi_bend_tool():
     )
     return tool, lib
 
+
+@pytest.fixture
+def asymmetric_transition_tool() -> AutoTool:
+    lib = Library()
+
+    bend_pat = Pattern()
+    bend_pat.ports["in"] = Port((0, 0), 0, ptype="core")
+    bend_pat.ports["out"] = Port((2, -2), pi / 2, ptype="core")
+    lib["core_bend"] = bend_pat
+
+    trans_pat = Pattern()
+    trans_pat.ports["CORE"] = Port((0, 0), 0, ptype="core")
+    trans_pat.ports["MID"] = Port((3, 1), pi, ptype="mid")
+    lib["core_mid"] = trans_pat
+
+    return AutoTool(
+        straights=[
+            AutoTool.Straight(
+                ptype="core",
+                fn=lambda length: make_straight(length, ptype="core"),
+                in_port_name="A",
+                out_port_name="B",
+                length_range=(0, 3),
+                ),
+            AutoTool.Straight(
+                ptype="mid",
+                fn=lambda length: make_straight(length, ptype="mid"),
+                in_port_name="A",
+                out_port_name="B",
+                length_range=(0, 1e8),
+                ),
+            ],
+        bends=[
+            AutoTool.Bend(lib.abstract("core_bend"), "in", "out", clockwise=True, mirror=True),
+            ],
+        sbends=[],
+        transitions={
+            ("mid", "core"): AutoTool.Transition(lib.abstract("core_mid"), "MID", "CORE"),
+            },
+        default_out_ptype="core",
+        ).add_complementary_transitions()
+
+
+def assert_trace_matches_plan(plan_port: Port, tree: Library, port_names: tuple[str, str] = ("A", "B")) -> None:
+    pat = tree.top_pattern()
+    out_port = pat[port_names[1]]
+    dxy, rot = pat[port_names[0]].measure_travel(out_port)
+    assert_allclose(dxy, plan_port.offset)
+    assert rot is not None
+    assert plan_port.rotation is not None
+    assert_allclose(rot, plan_port.rotation)
+    assert out_port.ptype == plan_port.ptype
+
+
 def test_autotool_planL_selection(multi_bend_tool) -> None:
     tool, _ = multi_bend_tool
 
@@ -93,6 +147,19 @@ def test_autotool_planU_consistency(multi_bend_tool) -> None:
     assert data.ldata1.straight_length == 0
     assert data.ldata1.bend.abstract.name == "b1"
 
+
+def test_autotool_traceU_matches_plan_with_asymmetric_transition(asymmetric_transition_tool: AutoTool) -> None:
+    tool = asymmetric_transition_tool
+
+    plan_port, data = tool.planU(12, length=0, in_ptype="core")
+
+    assert data.ldata1.in_transition is not None
+    assert data.ldata1.b_transition is not None
+
+    tree = tool.traceU(12, length=0, in_ptype="core")
+    assert_trace_matches_plan(plan_port, tree)
+
+
 def test_autotool_planS_double_L(multi_bend_tool) -> None:
     tool, lib = multi_bend_tool
 
@@ -109,6 +176,19 @@ def test_autotool_planS_double_L(multi_bend_tool) -> None:
     assert data.l2_length == 6
 
 
+def test_autotool_traceS_double_l_matches_plan_with_asymmetric_transition(asymmetric_transition_tool: AutoTool) -> None:
+    tool = asymmetric_transition_tool
+
+    plan_port, data = tool.planS(4, 10, in_ptype="core")
+
+    assert isinstance(data, AutoTool.UData)
+    assert data.ldata1.in_transition is not None
+    assert data.ldata1.b_transition is not None
+
+    tree = tool.traceS(4, 10, in_ptype="core")
+    assert_trace_matches_plan(plan_port, tree)
+
+
 def test_autotool_planS_pure_sbend_with_transition_dx() -> None:
     lib = Library()