340 lines
9.8 KiB
C++
340 lines
9.8 KiB
C++
/*
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* KiRouter - a push-and-(sometimes-)shove PCB router
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*
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* Copyright (C) 2013-2014 CERN
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* Copyright (C) 2016-2023 KiCad Developers, see AUTHORS.txt for contributors.
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* Author: Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
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*
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* This program is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or (at your
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* option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <optional>
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#include <geometry/shape_line_chain.h>
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#include "pns_walkaround.h"
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#include "pns_optimizer.h"
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#include "pns_router.h"
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#include "pns_debug_decorator.h"
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#include "pns_solid.h"
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namespace PNS {
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void WALKAROUND::start( const LINE& aInitialPath )
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{
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m_iteration = 0;
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m_iterationLimit = 50;
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}
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NODE::OPT_OBSTACLE WALKAROUND::nearestObstacle( const LINE& aPath )
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{
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COLLISION_SEARCH_OPTIONS opts;
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opts.m_kindMask = m_itemMask;
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if( ! m_restrictedSet.empty() )
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opts.m_restrictedSet = &m_restrictedSet;
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else
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opts.m_restrictedSet = nullptr;
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opts.m_useClearanceEpsilon = false;
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NODE::OPT_OBSTACLE obs = m_world->NearestObstacle( &aPath, opts );
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if( m_restrictedSet.empty() )
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return obs;
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else if( obs && m_restrictedSet.find ( obs->m_item ) != m_restrictedSet.end() )
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return obs;
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return NODE::OPT_OBSTACLE();
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}
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void WALKAROUND::RestrictToSet( bool aEnabled, const std::set<ITEM*>& aSet )
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{
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m_restrictedVertices.clear();
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if( aEnabled )
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m_restrictedSet = aSet;
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else
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m_restrictedSet.clear();
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for( ITEM* item : aSet )
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{
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if( SOLID* solid = dyn_cast<SOLID*>( item ) )
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m_restrictedVertices.push_back( solid->Anchor( 0 ) );
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}
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}
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WALKAROUND::WALKAROUND_STATUS WALKAROUND::singleStep( LINE& aPath, bool aWindingDirection )
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{
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std::optional<OBSTACLE>& current_obs =
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aWindingDirection ? m_currentObstacle[0] : m_currentObstacle[1];
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if( !current_obs )
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return DONE;
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VECTOR2I initialLast = aPath.CPoint( -1 );
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SHAPE_LINE_CHAIN path_walk;
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SHAPE_LINE_CHAIN hull = current_obs->m_item->Hull( current_obs->m_clearance, aPath.Width() );
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bool s_cw = aPath.Walkaround( hull, path_walk, aWindingDirection );
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PNS_DBG( Dbg(), BeginGroup, "hull/walk", 1 );
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PNS_DBG( Dbg(), AddShape, &hull, RED, 0, wxString::Format( "hull-%s-%d-cl %d", aWindingDirection ? wxT( "cw" ) : wxT( "ccw" ), m_iteration, current_obs->m_clearance ) );
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PNS_DBG( Dbg(), AddShape, &aPath.CLine(), GREEN, 0, wxString::Format( "path-%s-%d", aWindingDirection ? wxT( "cw" ) : wxT( "ccw" ), m_iteration ) );
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PNS_DBG( Dbg(), AddShape, &path_walk, BLUE, 0, wxString::Format( "result-%s-%d", aWindingDirection ? wxT( "cw" ) : wxT( "ccw" ), m_iteration ) );
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PNS_DBG( Dbg(), Message, wxString::Format( wxT( "Stat cw %d" ), !!s_cw ) );
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PNS_DBGN( Dbg(), EndGroup );
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path_walk.Simplify();
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aPath.SetShape( path_walk );
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// If the end of the line is inside an obstacle, additional walkaround iterations are not
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// going to help. Exit now to prevent pegging the iteration limiter and causing lag.
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if( current_obs && hull.PointInside( initialLast ) && !hull.PointOnEdge( initialLast ) )
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{
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return ALMOST_DONE;
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}
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current_obs = nearestObstacle( LINE( aPath, path_walk ) );
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return IN_PROGRESS;
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}
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const WALKAROUND::RESULT WALKAROUND::Route( const LINE& aInitialPath )
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{
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LINE path_cw( aInitialPath ), path_ccw( aInitialPath );
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WALKAROUND_STATUS s_cw = IN_PROGRESS, s_ccw = IN_PROGRESS;
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SHAPE_LINE_CHAIN best_path;
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RESULT result;
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// special case for via-in-the-middle-of-track placement
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if( aInitialPath.PointCount() <= 1 )
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{
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if( aInitialPath.EndsWithVia() && m_world->CheckColliding( &aInitialPath.Via(),
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m_itemMask ) )
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return RESULT( STUCK, STUCK );
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return RESULT( DONE, DONE, aInitialPath, aInitialPath );
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}
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start( aInitialPath );
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m_currentObstacle[0] = m_currentObstacle[1] = nearestObstacle( aInitialPath );
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result.lineCw = aInitialPath;
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result.lineCcw = aInitialPath;
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if( m_forceWinding )
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{
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s_cw = m_forceCw ? IN_PROGRESS : STUCK;
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s_ccw = m_forceCw ? STUCK : IN_PROGRESS;
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}
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// In some situations, there isn't a trivial path (or even a path at all). Hitting the
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// iteration limit causes lag, so we can exit out early if the walkaround path gets very long
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// compared with the initial path. If the length exceeds the initial length times this factor,
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// fail out.
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const int maxWalkDistFactor = 10;
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long long lengthLimit = aInitialPath.CLine().Length() * maxWalkDistFactor;
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while( m_iteration < m_iterationLimit )
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{
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if( s_cw != STUCK && s_cw != ALMOST_DONE )
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s_cw = singleStep( path_cw, true );
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if( s_ccw != STUCK && s_ccw != ALMOST_DONE )
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s_ccw = singleStep( path_ccw, false );
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if( s_cw != IN_PROGRESS )
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{
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result.lineCw = path_cw;
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result.statusCw = s_cw;
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}
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if( s_ccw != IN_PROGRESS )
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{
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result.lineCcw = path_ccw;
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result.statusCcw = s_ccw;
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}
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if( s_cw != IN_PROGRESS && s_ccw != IN_PROGRESS )
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break;
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double lcw = path_cw.Line().Length() / (double)aInitialPath.CLine().Length();
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double lccw = path_ccw.Line().Length() / (double)aInitialPath.CLine().Length();
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PNS_DBG( Dbg(), Message, wxString::Format( wxT( "lcw %.1f lccw %.1f" ), lcw, lccw ) );
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// Safety valve
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if( m_lengthLimitOn && path_cw.Line().Length() > lengthLimit && path_ccw.Line().Length() > lengthLimit )
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break;
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m_iteration++;
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}
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if( s_cw == IN_PROGRESS )
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{
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result.lineCw = path_cw;
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result.statusCw = ALMOST_DONE;
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}
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if( s_ccw == IN_PROGRESS )
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{
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result.lineCcw = path_ccw;
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result.statusCcw = ALMOST_DONE;
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}
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if( result.lineCw.SegmentCount() < 1 || result.lineCw.CPoint( 0 ) != aInitialPath.CPoint( 0 ) )
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{
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result.statusCw = STUCK;
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}
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if( result.lineCw.PointCount() > 0 && result.lineCw.CPoint( -1 ) != aInitialPath.CPoint( -1 ) )
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{
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result.statusCw = ALMOST_DONE;
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}
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if( result.lineCcw.SegmentCount() < 1 ||
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result.lineCcw.CPoint( 0 ) != aInitialPath.CPoint( 0 ) )
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{
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result.statusCcw = STUCK;
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}
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if( result.lineCcw.PointCount() > 0 &&
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result.lineCcw.CPoint( -1 ) != aInitialPath.CPoint( -1 ) )
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{
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result.statusCcw = ALMOST_DONE;
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}
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result.lineCw.ClearLinks();
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result.lineCcw.ClearLinks();
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return result;
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}
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WALKAROUND::WALKAROUND_STATUS WALKAROUND::Route( const LINE& aInitialPath, LINE& aWalkPath,
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bool aOptimize )
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{
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LINE path_cw( aInitialPath ), path_ccw( aInitialPath );
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WALKAROUND_STATUS s_cw = IN_PROGRESS, s_ccw = IN_PROGRESS;
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SHAPE_LINE_CHAIN best_path;
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// special case for via-in-the-middle-of-track placement
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if( aInitialPath.PointCount() <= 1 )
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{
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if( aInitialPath.EndsWithVia() && m_world->CheckColliding( &aInitialPath.Via(), m_itemMask ) )
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return STUCK;
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aWalkPath = aInitialPath;
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return DONE;
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}
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start( aInitialPath );
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m_currentObstacle[0] = m_currentObstacle[1] = nearestObstacle( aInitialPath );
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aWalkPath = aInitialPath;
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if( m_forceWinding )
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{
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s_cw = m_forceCw ? IN_PROGRESS : STUCK;
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s_ccw = m_forceCw ? STUCK : IN_PROGRESS;
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}
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while( m_iteration < m_iterationLimit )
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{
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if( path_cw.PointCount() == 0 )
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s_cw = STUCK; // cw path is empty, can't continue
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if( path_ccw.PointCount() == 0 )
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s_ccw = STUCK; // ccw path is empty, can't continue
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if( s_cw != STUCK )
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s_cw = singleStep( path_cw, true );
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if( s_ccw != STUCK )
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s_ccw = singleStep( path_ccw, false );
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if( ( s_cw == DONE && s_ccw == DONE ) || ( s_cw == STUCK && s_ccw == STUCK ) )
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{
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int len_cw = path_cw.CLine().Length();
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int len_ccw = path_ccw.CLine().Length();
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if( m_forceLongerPath )
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aWalkPath = ( len_cw > len_ccw ? path_cw : path_ccw );
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else
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aWalkPath = ( len_cw < len_ccw ? path_cw : path_ccw );
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break;
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}
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else if( s_cw == DONE && !m_forceLongerPath )
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{
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aWalkPath = path_cw;
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break;
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}
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else if( s_ccw == DONE && !m_forceLongerPath )
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{
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aWalkPath = path_ccw;
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break;
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}
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m_iteration++;
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}
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if( m_iteration == m_iterationLimit )
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{
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int len_cw = path_cw.CLine().Length();
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int len_ccw = path_ccw.CLine().Length();
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if( m_forceLongerPath )
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aWalkPath = ( len_cw > len_ccw ? path_cw : path_ccw );
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else
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aWalkPath = ( len_cw < len_ccw ? path_cw : path_ccw );
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}
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aWalkPath.Line().Simplify();
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if( aWalkPath.SegmentCount() < 1 )
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return STUCK;
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if( aWalkPath.CPoint( -1 ) != aInitialPath.CPoint( -1 ) )
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return ALMOST_DONE;
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if( aWalkPath.CPoint( 0 ) != aInitialPath.CPoint( 0 ) )
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return STUCK;
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WALKAROUND_STATUS st = s_ccw == DONE || s_cw == DONE ? DONE : STUCK;
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if( st == DONE )
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{
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if( aOptimize )
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OPTIMIZER::Optimize( &aWalkPath, OPTIMIZER::MERGE_OBTUSE, m_world );
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}
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return st;
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}
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}
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