pns_walkaround.cpp

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