Mirrors
/
kicad
mirror of https://github.com/KiCad/kicad-source-mirror
3
0
Fork 0
Code Releases Activity
Browse Source

router: initial attempt at improved 'aim at mouse cursor' strategy in walkaround mode, wip...

pull/16/head
Tomasz Wlostowski 6 years ago
parent
43b71cd9e3
commit
37a754c4dd
3 changed files with 256 additions and 37 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 75
      pcbnew/router/pns_line_placer.cpp
  2. 196
      pcbnew/router/pns_walkaround.cpp
  3. 22
      pcbnew/router/pns_walkaround.h

75
pcbnew/router/pns_line_placer.cpp
View File

@ -366,10 +366,32 @@ bool LINE_PLACER::mergeHead()
}
VECTOR2I closestProjectedPoint( const SHAPE_LINE_CHAIN& line, const VECTOR2I& p )
{
int min_dist = INT_MAX;
VECTOR2I closest;
for(int i = 0; i < line.SegmentCount(); i++ )
{
const auto& s = line.CSegment(i);
auto a = s.NearestPoint( p );
auto d = (a - p).EuclideanNorm();
if( d < min_dist )
{
min_dist = d;
closest = a;
}
}
return closest;
}
bool LINE_PLACER::rhWalkOnly( const VECTOR2I& aP, LINE& aNewHead )
{
LINE initTrack( m_head );
LINE walkFull;
LINE walkFull( m_head );
int effort = 0;
bool rv = true, viaOk;
@ -379,9 +401,40 @@ bool LINE_PLACER::rhWalkOnly( const VECTOR2I& aP, LINE& aNewHead )
walkaround.SetSolidsOnly( false );
walkaround.SetDebugDecorator( Dbg() );
walkaround.SetLogger( Logger() );
walkaround.SetIterationLimit( Settings().WalkaroundIterationLimit() );
WALKAROUND::WALKAROUND_STATUS wf = walkaround.Route( initTrack, walkFull, false );
WALKAROUND::RESULT wr = walkaround.Route( initTrack );
//WALKAROUND::WALKAROUND_STATUS wf = walkaround.Route( initTrack, walkFull, false );
auto l_cw = wr.lineCw.CLine();
auto l_ccw = wr.lineCcw.CLine();
if( wr.statusCcw == WALKAROUND::ALMOST_DONE || wr.statusCw == WALKAROUND::ALMOST_DONE )
{
auto p_cw = closestProjectedPoint( l_cw, aP );
auto p_ccw = closestProjectedPoint( l_ccw, aP );
int idx_cw = l_cw.Split( p_cw );
int idx_ccw = l_ccw.Split( p_ccw );
l_cw = l_cw.Slice( 0, idx_cw );
l_ccw = l_ccw.Slice( 0, idx_ccw );
//Dbg()->AddLine( wr.lineCw.CLine(), 3, 40000 );
//Dbg()->AddPoint( p_cw, 4 );
//Dbg()->AddPoint( p_ccw, 5 );
//Dbg()->AddLine( wr.lineCw.CLine(), 4, 1000 );
//Dbg()->AddLine( wr.lineCcw.CLine(), 5, 1000 );
}
walkFull.SetShape( l_ccw.Length() < l_cw.Length() ? l_ccw : l_cw );
Dbg()->AddLine( walkFull.CLine(), 2, 100000, "walk-full" );
switch( Settings().OptimizerEffort() )
{
@ -398,7 +451,7 @@ bool LINE_PLACER::rhWalkOnly( const VECTOR2I& aP, LINE& aNewHead )
if( Settings().SmartPads() )
effort |= OPTIMIZER::SMART_PADS;
if( wf == WALKAROUND::STUCK )
if( wr.statusCw == WALKAROUND::STUCK || wr.statusCcw == WALKAROUND::STUCK )
{
walkFull = walkFull.ClipToNearestObstacle( m_currentNode );
rv = true;
@ -578,6 +631,10 @@ bool LINE_PLACER::rhShoveOnly( const VECTOR2I& aP, LINE& aNewHead )
bool viaOk = buildInitialLine( aP, initTrack );
m_currentNode = m_shove->CurrentNode();
m_shove->SetLogger( Logger() );
m_shove->SetDebugDecorator( Dbg() );
OPTIMIZER optimizer( m_currentNode );
WALKAROUND walkaround( m_currentNode, Router() );
@ -585,6 +642,7 @@ bool LINE_PLACER::rhShoveOnly( const VECTOR2I& aP, LINE& aNewHead )
walkaround.SetSolidsOnly( true );
walkaround.SetIterationLimit( 10 );
walkaround.SetDebugDecorator( Dbg() );
walkaround.SetLogger( Logger() );
WALKAROUND::WALKAROUND_STATUS stat_solids = walkaround.Route( initTrack, walkSolids );
optimizer.SetEffortLevel( OPTIMIZER::MERGE_SEGMENTS );
@ -1204,8 +1262,8 @@ void LINE_PLACER::updateLeadingRatLine()
SHAPE_LINE_CHAIN ratLine;
TOPOLOGY topo( m_lastNode );
if( topo.LeadingRatLine( &current, ratLine ) )
Dbg()->AddLine( ratLine, 5, 10000 );
//if( topo.LeadingRatLine( &current, ratLine ) )
//Dbg()->AddLine( ratLine, 5, 10000 );
}
@ -1288,12 +1346,5 @@ void LINE_PLACER::GetModifiedNets( std::vector<int>& aNets ) const
aNets.push_back( m_currentNet );
}
LOGGER* LINE_PLACER::Logger()
{
if( m_shove )
return m_shove->Logger();
return NULL;
}
}

196
pcbnew/router/pns_walkaround.cpp
View File

@ -27,6 +27,7 @@
#include "pns_optimizer.h"
#include "pns_utils.h"
#include "pns_router.h"
#include "pns_debug_decorator.h"
namespace PNS {
@ -57,8 +58,6 @@ WALKAROUND::WALKAROUND_STATUS WALKAROUND::singleStep( LINE& aPath,
OPT<OBSTACLE>& current_obs =
aWindingDirection ? m_currentObstacle[0] : m_currentObstacle[1];
bool& prev_recursive = aWindingDirection ? m_recursiveCollision[0] : m_recursiveCollision[1];
if( !current_obs )
return DONE;
@ -79,23 +78,36 @@ WALKAROUND::WALKAROUND_STATUS WALKAROUND::singleStep( LINE& aPath,
}
}
if( ! aPath.Walkaround( current_obs->m_hull, path_pre[0], path_walk[0],
path_post[0], aWindingDirection ) )
return STUCK;
aPath.Walkaround( current_obs->m_hull, path_pre[0], path_walk[0],
path_post[0], aWindingDirection );
aPath.Walkaround( current_obs->m_hull, path_pre[1], path_walk[1],
path_post[1], !aWindingDirection );
if( ! aPath.Walkaround( current_obs->m_hull, path_pre[1], path_walk[1],
path_post[1], !aWindingDirection ) )
return STUCK;
auto l =aPath.CLine();
#ifdef DEBUG
m_logger.NewGroup( aWindingDirection ? "walk-cw" : "walk-ccw", m_iteration );
m_logger.Log( &path_walk[0], 0, "path-walk" );
m_logger.Log( &path_pre[0], 1, "path-pre" );
m_logger.Log( &path_post[0], 4, "path-post" );
m_logger.Log( &current_obs->m_hull, 2, "hull" );
m_logger.Log( current_obs->m_item, 3, "item" );
if( m_logger )
{
m_logger->NewGroup( aWindingDirection ? "walk-cw" : "walk-ccw", m_iteration );
m_logger->Log( &path_walk[0], 0, "path_walk" );
m_logger->Log( &path_pre[0], 1, "path_pre" );
m_logger->Log( &path_post[0], 4, "path_post" );
m_logger->Log( &current_obs->m_hull, 2, "hull" );
m_logger->Log( current_obs->m_item, 3, "item" );
}
#endif
if ( Dbg() )
{
char name[128];
snprintf(name, sizeof(name), "hull-%s-%d", aWindingDirection ? "cw" : "ccw", m_iteration );
Dbg()->AddLine( current_obs->m_hull, 0, 1, name);
snprintf(name, sizeof(name), "path-%s-%d", aWindingDirection ? "cw" : "ccw", m_iteration );
Dbg()->AddLine( aPath.CLine(), 1, 1, name );
}
int len_pre = path_walk[0].Length();
int len_alt = path_walk[1].Length();
@ -105,7 +117,7 @@ WALKAROUND::WALKAROUND_STATUS WALKAROUND::singleStep( LINE& aPath,
SHAPE_LINE_CHAIN pnew;
if( !m_forceLongerPath && len_alt < len_pre && !alt_collides && !prev_recursive )
/*if( !m_forceLongerPath && len_alt < len_pre && !alt_collides && !prev_recursive )
{
pnew = path_pre[1];
pnew.Append( path_walk[1] );
@ -115,26 +127,22 @@ WALKAROUND::WALKAROUND_STATUS WALKAROUND::singleStep( LINE& aPath,
current_obs = nearestObstacle( LINE( aPath, path_pre[1] ) );
else
current_obs = nearestObstacle( LINE( aPath, path_post[1] ) );
prev_recursive = false;
}
else
else*/
{
pnew = path_pre[0];
pnew.Append( path_walk[0] );
pnew.Append( path_post[0] );
if( !path_post[0].PointCount() || !path_walk[0].PointCount() )
if( path_post[0].PointCount() == 0 || path_walk[0].PointCount() == 0 )
current_obs = nearestObstacle( LINE( aPath, path_pre[0] ) );
else
current_obs = nearestObstacle( LINE( aPath, path_walk[0] ) );
if( !current_obs )
{
prev_recursive = false;
current_obs = nearestObstacle( LINE( aPath, path_post[0] ) );
}
else
prev_recursive = true;
}
pnew.Simplify();
@ -144,6 +152,154 @@ WALKAROUND::WALKAROUND_STATUS WALKAROUND::singleStep( LINE& aPath,
}
bool clipToLoopStart( SHAPE_LINE_CHAIN& l )
{
auto ip = l.SelfIntersecting();
if(!ip)
return false;
else {
int pidx = l.Split( ip->p );
auto lead = l.Slice(0, pidx);
auto tail = l.Slice(pidx + 1, -1);
int pidx2 = tail.Split( ip->p );
auto dbg = ROUTER::GetInstance()->GetInterface()->GetDebugDecorator();
dbg->AddPoint( ip->p, 5 );
l = lead;
l.Append( tail.Slice( 0, pidx2 ) );
//l = l.Slice(0, pidx);
return true;
}
}
const WALKAROUND::RESULT WALKAROUND::Route( const LINE& aInitialPath )
{
LINE path_cw( aInitialPath ), path_ccw( aInitialPath );
WALKAROUND_STATUS s_cw = IN_PROGRESS, s_ccw = IN_PROGRESS;
SHAPE_LINE_CHAIN best_path;
RESULT result;
// special case for via-in-the-middle-of-track placement
if( aInitialPath.PointCount() <= 1 )
{
if( aInitialPath.EndsWithVia() && m_world->CheckColliding( &aInitialPath.Via(), m_itemMask ) )
return RESULT( STUCK, STUCK );
return RESULT( DONE, DONE, aInitialPath, aInitialPath );
}
start( aInitialPath );
m_currentObstacle[0] = m_currentObstacle[1] = nearestObstacle( aInitialPath );
m_recursiveBlockageCount = 0;
result.lineCw = aInitialPath;
result.lineCcw = aInitialPath;
if( m_forceWinding )
{
s_cw = m_forceCw ? IN_PROGRESS : STUCK;
s_ccw = m_forceCw ? STUCK : IN_PROGRESS;
m_forceSingleDirection = true;
} else {
m_forceSingleDirection = false;
}
while( m_iteration < m_iterationLimit )
{
if( s_cw != STUCK )
s_cw = singleStep( path_cw, true );
if( s_ccw != STUCK )
s_ccw = singleStep( path_ccw, false );
//Dbg()->AddLine( path_cw.CLine(), 2, 10000 );
printf("iter %d s_cw %d s_ccw %d\n", m_iteration, s_cw, s_ccw );
auto old = path_cw.CLine();
if( clipToLoopStart( path_cw.Line() ))
{
printf("ClipCW\n");
//Dbg()->AddLine( old, 1, 40000 );
s_cw = ALMOST_DONE;
}
if( clipToLoopStart( path_ccw.Line() ))
{
printf("ClipCCW\n");
s_ccw = ALMOST_DONE;
}
if( s_cw != IN_PROGRESS )
{
result.lineCw = path_cw;
result.statusCw = s_cw;
}
if( s_ccw != IN_PROGRESS )
{
result.lineCcw = path_ccw;
result.statusCcw = s_ccw;
}
if( s_cw != IN_PROGRESS && s_ccw != IN_PROGRESS )
break;
m_iteration++;
}
if( s_cw == IN_PROGRESS )
{
result.lineCw = path_cw;
result.statusCw = ALMOST_DONE;
}
if( s_ccw == IN_PROGRESS )
{
result.lineCcw = path_ccw;
result.statusCcw = ALMOST_DONE;
}
result.lineCw.Line().Simplify();
result.lineCcw.Line().Simplify();
if( result.lineCw.SegmentCount() < 1 || result.lineCw.CPoint( 0 ) != aInitialPath.CPoint( 0 ) )
{
result.statusCw = STUCK;
}
if( result.lineCw.PointCount() > 0 && result.lineCw.CPoint( -1 ) != aInitialPath.CPoint( -1 ) )
{
result.statusCw = ALMOST_DONE;
}
if( result.lineCcw.SegmentCount() < 1 || result.lineCcw.CPoint( 0 ) != aInitialPath.CPoint( 0 ) )
{
result.statusCcw = STUCK;
}
if( result.lineCcw.PointCount() > 0 && result.lineCcw.CPoint( -1 ) != aInitialPath.CPoint( -1 ) )
{
result.statusCcw = ALMOST_DONE;
}
return result;
}
WALKAROUND::WALKAROUND_STATUS WALKAROUND::Route( const LINE& aInitialPath,
LINE& aWalkPath, bool aOptimize )
{
@ -261,7 +417,7 @@ WALKAROUND::WALKAROUND_STATUS WALKAROUND::Route( const LINE& aInitialPath,
if( aWalkPath.SegmentCount() < 1 )
return STUCK;
if( aWalkPath.CPoint( -1 ) != aInitialPath.CPoint( -1 ) )
return STUCK;
return ALMOST_DONE;
if( aWalkPath.CPoint( 0 ) != aInitialPath.CPoint( 0 ) )
return STUCK;

22
pcbnew/router/pns_walkaround.h
View File

@ -60,10 +60,25 @@ public:
enum WALKAROUND_STATUS
{
IN_PROGRESS = 0,
ALMOST_DONE,
DONE,
STUCK
};
struct RESULT
{
RESULT( WALKAROUND_STATUS aStatusCw = STUCK, WALKAROUND_STATUS aStatusCcw = STUCK, const LINE& aLineCw = LINE(), const LINE& aLineCcw = LINE() )
{
statusCw = aStatusCw;
statusCcw = aStatusCcw;
lineCw = aLineCw;
lineCcw = aLineCcw;
}
WALKAROUND_STATUS statusCw, statusCcw;
LINE lineCw, lineCcw;
};
void SetWorld( NODE* aNode )
{
m_world = aNode;
@ -121,10 +136,7 @@ public:
WALKAROUND_STATUS Route( const LINE& aInitialPath, LINE& aWalkPath,
bool aOptimize = true );
virtual LOGGER* Logger() override
{
return &m_logger;
}
const RESULT Route( const LINE& aInitialPath );
private:
void start( const LINE& aInitialPath );
@ -142,10 +154,10 @@ private:
bool m_cursorApproachMode;
bool m_forceWinding;
bool m_forceCw;
bool m_forceUniqueWindingDirection;
VECTOR2I m_cursorPos;
NODE::OPT_OBSTACLE m_currentObstacle[2];
bool m_recursiveCollision[2];
LOGGER m_logger;
std::set<ITEM*> m_restrictedSet;
};

Write Preview
Loading…
Cancel
Save