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Astra ESC routing: independent planner, exact replay and narration handoff
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docs/demos/astra-esc-routing/README.md+19docs/demos/astra-esc-routing/bridge.py+13docs/demos/astra-esc-routing/evidence/plan-before-live.json+10173docs/demos/astra-esc-routing/evidence/planner-before-clearance-refinement.py+113docs/demos/astra-esc-routing/evidence/state-first.json+37775docs/demos/astra-esc-routing/final-plan.json+7298docs/demos/astra-esc-routing/README.mdadded+19@@ -0,0 +1,19 @@+# Astra ESC G431 routing evidence++Independent Astra routing source for the shared Fable-placed, plane-only fixture. These scripts are a recorded experiment, not a fabrication-ready general autorouter.++The fixture is public:+https://wiki.adom.inc/api/pages/adom/kicad-bridge/files/demo/routing/esc/esc-g431-fable-placed-planes.kicad_pcb++The planner reads the fixture locally. It uses Python, NumPy and Shapely, plus serial C++ search executables built with:++```bash+g++ -O3 search.cpp -o search+g++ -O3 search2.cpp -o search2+```++`planner.py` builds plane stubs and a short-net-first candidate. The repair scripts depend on the preceding candidate JSON files listed in their source. `widen.py` selects clearance-safe 1.0 mm replacements from the native first-pass state. All candidate copper is subjected to KiCad's native DRC before committing.++`final-plan.json` is the exact accepted replay plan, including separate width groups and batches of at most 128 paths. `final_record.py` requires the disposable fixture open on arav-rog, its native IPC enabled, an `evidence/` directory and the KiCad canvas already visibly prepared. It refuses to start on a board with tracks or vias. Each call is recorded by `bridge.py`. It never saves the board. Do not run it against an unrelated board or without the desktop owner's authorization.++Search directions are horizontal, vertical and 45 degrees. Small pad-to-grid links can have other angles. The search has a 1.5 million expansion limit per invocation. A failed search is not proof that a connection is geometrically impossible. See the issue's final DRC and remaining-connection list for the actual outcome.
docs/demos/astra-esc-routing/bridge.pyadded+13@@ -0,0 +1,13 @@+import json,subprocess,time,pathlib,shlex,datetime+D=pathlib.Path(__file__).parent+B='C:/Users/arav/Downloads/adom-gate/esc-demo/astra-routing/esc-g431-fable-placed-planes.kicad_pcb'+def call(v,a):+ cmd=['adom-bridge','--ai-thread','Astra ESC routing video','--target','arav-rog',v,json.dumps(a,separators=(',',':'))]+ t=time.time(); p=subprocess.run(cmd,capture_output=True,text=True); end=time.time()+ try:r=json.loads(p.stdout)+ except:r={'error':p.stdout,'stderr':p.stderr}+ with (D/'evidence/calls.jsonl').open('a') as f:f.write(json.dumps(dict(start=t,end=end,utc=datetime.datetime.fromtimestamp(t,datetime.timezone.utc).isoformat(),verb=v,args=a,command=shlex.join(cmd),result=r))+'\n')+ return r+if __name__=='__main__':+ import sys+ print(json.dumps(call(sys.argv[1],json.loads(sys.argv[2])),indent=2))
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docs/demos/astra-esc-routing/evidence/planner-before-clearance-refinement.pyadded+113@@ -0,0 +1,113 @@+from geometry import *+import numpy as np,shapely,subprocess,time+from collections import defaultdict+D=Path(__file__).parent+STEP=.05;X0=104.;Y0=58.;W=1281;H=1481;N=W*H+copper=[]; failures=[];plans=[]+pads=[p for p in pads if any(l.endswith('.Cu') for l in p['layers'])]+by=defaultdict(list)+for p in pads:+ if p['net'] and not p['net'].startswith('unconnected-'):by[p['net']].append(p)+# board rounded corners, 0.25mm copper-to-edge conservative minimum+outline=box(107,61,165,129).buffer(3,quad_segs=16)+def ij(x,y):return round((x-X0)/STEP),round((y-Y0)/STEP)+def xy(i,j):return (round(X0+i*STEP,5),round(Y0+j*STEP,5))+def raster(arr,g,value=1):+ if g.is_empty:return+ x1,y1,x2,y2=g.bounds;i1=max(0,int((x1-X0)/STEP)-1);i2=min(W,int((x2-X0)/STEP)+2);j1=max(0,int((y1-Y0)/STEP)-1);j2=min(H,int((y2-Y0)/STEP)+2)+ if i2<=i1 or j2<=j1:return+ xx=X0+np.arange(i1,i2)[None,:]*STEP;yy=Y0+np.arange(j1,j2)[:,None]*STEP+ hit=shapely.intersects_xy(g,xx,yy);a=arr[j1:j2,i1:i2];a[hit]=value++def masks(net,width):+ a=np.ones((3,H,W),dtype=np.uint8)+ for z,rad in [(0,width/2),(1,width/2),(2,.4)]:raster(a[z],outline.buffer(-.25-rad),0)+ for p in pads:+ if p['net']==net:continue+ clearance=max(.2,p['clearance'])+.018+ pg=p['g']; layers=p['layers']+ for z,l in [(0,'F.Cu'),(1,'B.Cu')]:+ if l in layers or '*.Cu' in layers:raster(a[z],pg.buffer(clearance+width/2))+ raster(a[2],pg.buffer(clearance+.4))+ for p in pads:+ if p['hole']:raster(a[2],Point(p['x'],p['y']).buffer(p['hole']/2+.2+.25))+ for c in copper:+ if len(c['zs'])==2:raster(a[2],c['g'].centroid.buffer(.65+.02))+ if c['net']==net:continue+ for z in c['zs']:raster(a[z],c['g'].buffer(.218+width/2))+ raster(a[2],c['g'].buffer(.218+.4))+ return a++def register(net,points,width):+ z=0+ for p,q in zip(points,points[1:]):+ oldz=z;zz=q.get('layer','F.Cu' if z==0 else 'B.Cu') if isinstance(q,dict) else ('F.Cu' if z==0 else 'B.Cu')+ def pos(v):return (v['x'],v['y']) if isinstance(v,dict) else v+ a,b=pos(p),pos(q)+ if a!=b:copper.append(dict(net=net,g=LineString([a,b]).buffer(width/2),zs=[z]))+ if isinstance(q,dict) and zz!=('F.Cu' if z==0 else 'B.Cu'):+ copper.append(dict(net=net,g=Point(*b).buffer(.4),zs=[0,1]));z=1 if zz=='B.Cu' else 0++def compress(raw):+ ps=[]+ for n in raw:+ z=n//N;j,i=divmod(n%N,W);ps.append((i,j,z))+ keep=[ps[0]]+ for a,b,c in zip(ps,ps[1:],ps[2:]):+ if (b[0]-a[0],b[1]-a[1],b[2]-a[2])!=(c[0]-b[0],c[1]-b[1],c[2]-b[2]):keep.append(b)+ keep.append(ps[-1]);return keep++def search(a,start,target,goalgeo,plane=False):+ goal=np.zeros((2,H,W),dtype=np.uint8)+ if plane:goal[0]=1-a[2]+ else:+ for z,g in goalgeo:raster(goal[z],g)+ goal[a[:2]>0]=0+ si,sj=ij(start['x'],start['y']);sx=si;sy=sj+ if a[0,sj,si]:return None+ a.tofile('mask.bin');goal.tofile('goal.bin');tx,ty=ij(*target)+ r=subprocess.run(['./search'],input=f'{W} {H} {sj*W+si} {tx} {ty}',capture_output=True,text=True)+ raw=json.loads(r.stdout)+ if not raw:return None+ ps=compress(raw);out=[[start['x'],start['y']]]+ for i,j,z in ps:+ x,y=xy(i,j)+ if z!=(0 if len(out)==1 else curz):out.append(dict(x=x,y=y,layer='B.Cu' if z else 'F.Cu'))+ elif [x,y]!=out[-1]:out.append([x,y])+ curz=z+ return out++def plan_planes():+ for net,layer in [('GND','In1.Cu'),('+3V3','In2.Cu')]:+ paths=[]+ for p in sorted(by[net],key=lambda p:p['g'].area):+ if p['type']=='thru_hole':continue+ a=masks(net,.25);route=search(a,p,(p['x'],p['y']),[],True)+ if route:+ e=route[-1];x,y=(e['x'],e['y']) if isinstance(e,dict) else e+ route.append(dict(x=x,y=y,layer=layer));register(net,route,.25);paths.append(route)+ else:failures.append([net,p['name'],'plane stub blocked'])+ plans.append(dict(net=net,width=.25,paths=paths));print(net,len(paths),'stubs',flush=True)++def plan_signals():+ def span(n):+ ps=by[n];return max(math.hypot(p['x']-q['x'],p['y']-q['y']) for p in ps for q in ps)+ for net in sorted((n for n in by if n not in ['GND','+3V3'] and len(by[n])>1),key=span):+ width=.5 if net in ['+VBAT','GND_OUT','/DRV_SHA','/DRV_SHB','/DRV_SHC'] else .25+ ps=by[net];connected=[ps[0]];remaining=ps[1:];paths=[]+ while remaining:+ _,p,t=min((math.hypot(p['x']-q['x'],p['y']-q['y']),p,q) for p in remaining for q in connected)+ remaining.remove(p)+ goals=[]+ for q in connected:+ for z in ([0,1] if q['type']=='thru_hole' else [0]):goals.append((z,q['g'].buffer(-.02)))+ for c in copper:+ if c['net']==net:+ for z in c['zs']:goals.append((z,c['g'].buffer(-width/2+.025)))+ a=masks(net,width);route=search(a,p,(t['x'],t['y']),goals)+ if route:register(net,route,width);paths.append(route);connected.append(p)+ else:failures.append([net,p['name'],'no clearance-safe path']);print('FAIL',net,p['name'],flush=True)+ plans.append(dict(net=net,width=width,paths=paths));print(net,len(paths),'paths',flush=True)+ Path('plan.json').write_text(json.dumps(plans,indent=2));Path('failures.json').write_text(json.dumps(failures,indent=2))+if __name__=='__main__':+ t=time.time();plan_planes();plan_signals();print('seconds',time.time()-t)
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