skill
EDA Skillpack
Public Made by Adomby adom
All skills for all EDA capabilities across the Adom ecosystem.
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Independent end-to-end layout workflow and explicitly scoped Astra ESC source
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SKILL.md+2docs/examples/astra-esc/README.md+24docs/examples/astra-esc/source/placement/bridge.py+12docs/examples/astra-esc/source/placement/place_plan.py+89docs/examples/astra-esc/source/placement/plan.py+24docs/examples/astra-esc/source/routing/bridge.py+13docs/examples/astra-esc/source/routing/build_corrected.py+27docs/examples/astra-esc/source/routing/component_search.py+71docs/examples/astra-esc/source/routing/final-plan.json+19711docs/examples/astra-esc/source/routing/geometry.py+48docs/examples/astra-esc/source/routing/planner.py+113docs/examples/astra-esc/source/routing/repair2.py+65docs/examples/astra-esc/source/routing/search.cpp+3docs/examples/astra-esc/source/routing/search2.cpp+3docs/examples/astra-esc/source/routing/search3.cpp+3docs/examples/astra-esc/source/routing/soft_repair3.py+74docs/examples/astra-esc/source/routing/soft_search2.py+31skills/eda-end-to-end-layout/SKILL.md+45SKILL.md+2@@ -12,6 +12,8 @@ Start with the [skill directory](references/skill-directory.md) to find the rele The bundled shared skills are: +- [End-to-end independent layout](skills/eda-end-to-end-layout/SKILL.md): preserve placement provenance through routing, copper/thermal review and ablation-aware iteration.+ - [Multilayer current review](skills/eda-multilayer-current-review/SKILL.md): native conductor connectivity, matched-net X-ray comparisons, explicit DC load cases and floating-copper accounting. - [Visible routing and copper optimization](skills/eda-visible-routing/SKILL.md): live routing, clean bends, electrical priorities, copper expansion and thermal review.
docs/examples/astra-esc/README.mdadded+24@@ -0,0 +1,24 @@+# Astra ESC: source, provenance and what is reusable++There are two separate historical experiments. [Astra placement, issue 92](https://wiki.adom.inc/adom/kicad-bridge/issues/92) independently generated the movable-part placement from the common fixture and preserved the fixed contacts. [Routing, issue 94](https://wiki.adom.inc/adom/kicad-bridge/issues/94) instead routed Fable's fixed placement. Combining those two results would NOT demonstrate an end-to-end Astra layout. The handoff is being corrected; no completed independent end-to-end result is claimed here.++The routing take reached 59/59 connected nets and zero new DRC errors, with 13 inherited library errors. It did not complete outer-layer power/thermal pours or establish a current/thermal rating. Its first fully connected video had blinking captions; [AB issue 194](https://wiki.adom.inc/adom/adom-bridge/issues/194) owns the shared product fix.++## Code map++| Source | Language | Responsibility | Portability today |+|---|---|---|---|+| placement/place_plan.py | Python | Functional anchors, pin-relative component targets, courtyard-safe local placement search | ESC-specific anchors, references and bounds |+| placement/plan.py | Python | Extract local pad/net data for placement | Demo file/evidence paths |+| routing/geometry.py | Python, Shapely | Parse pad shapes and layer/net membership | Useful geometry routines, incomplete general KiCad parser, hardcoded input |+| routing/planner.py | Python, NumPy, Shapely | Rasterize clearance obstacles, choose endpoints, compress paths | ESC outline, grid, widths and layer assumptions |+| routing/search*.cpp | C++ | Fast grid path search with layer/via moves and costs | Reusable algorithmic core; not a standalone general router |+| routing/component_search.py, soft_search2.py, soft_repair3.py | Python | Find disconnected copper groups, identify blocking paths, rip up and reroute | Demo-specific globals and plane handling |+| routing/build_corrected.py, final-plan.json | Python / JSON | Build and replay the accepted route batches | Specific geometry for Fable's placement; do not use for Astra's independent layout |+| routing/bridge.py | Python | Timestamped calls to Adom Bridge | Fixed desktop and fixture path |++The AI chooses electrical intent and writes/adapts the planner. C++ performs the geometric search. KiCad Bridge commits the supplied points as native undo steps and checks them with KiCad; it does not invent those points for this AI routing take. Replaying final-plan.json is not fresh planning.++Source is copied under source/ for inspection and reproducibility. Historical placement and routing inputs have different provenance. The routing source is a worked example, NOT an install-and-run router for arbitrary boards. Paths, reference names, net classes, layer roles, outline/grid, pad support and rules must be parameterized and validated on multiple unseen boards before making that claim. No power-pour optimizer is hidden inside it.++Use the [end-to-end layout skill](../../../skills/eda-end-to-end-layout/SKILL.md) for the reusable process: preserve each engine's own placement, reserve power/thermal regions, route, pour/refill, measure actual connected copper and bottlenecks, reroute or move parts when necessary, and validate every stage. Improvements belong in the shared owning projects so all Adom users benefit.
docs/examples/astra-esc/source/placement/bridge.pyadded+12@@ -0,0 +1,12 @@+import json,subprocess,time,pathlib,shlex,datetime+D=pathlib.Path(__file__).parent+B='C:/Users/arav/Downloads/adom-gate/esc-demo/astra/esc-g431-unplaced.kicad_pcb'+def call(v,a):+ cmd=['adom-bridge','--ai-thread','Astra ESC G431 placement video','--target','arav-rog',v,json.dumps(a,separators=(',',':'))]+ t=time.time();p=subprocess.run(cmd,capture_output=True,text=True);r=json.loads(p.stdout)+ with (D/'evidence/calls.jsonl').open('a') as f:f.write(json.dumps(dict(start=t,end=time.time(),utc=datetime.datetime.fromtimestamp(t,datetime.timezone.utc).isoformat(),verb=v,args=a,command=shlex.join(cmd),result=r))+'\n')+ if r.get('success') is False or r.get('status')=='error':raise RuntimeError(r)+ return r+if __name__=='__main__':+ import sys+ r=call(sys.argv[1],json.loads(sys.argv[2] if len(sys.argv)>2 else '{}'));print(json.dumps(r,indent=2))
docs/examples/astra-esc/source/placement/place_plan.pyadded+89@@ -0,0 +1,89 @@+from bridge import *+import math,re+s=json.load(open(D/'evidence/state.json'));F={p['ref']:p for p in s['footprints']};P=json.load(open(D/'evidence/local-pads.json'))+poses={r:(p['x'],p['y'],p['rotation']) for r,p in F.items() if p['locked']};boxes={r:tuple(p['courtyard'][k] for k in ['minX','minY','maxX','maxY']) for r,p in F.items() if p['locked']};order=[];groups={};targets={}+def rot(x,y,a):+ c=round(math.cos(math.radians(a)),9);t=round(math.sin(math.radians(a)),9);return c*x+t*y,-t*x+c*y+def box(r,x,y,a):+ p=F[r];b=p['courtyard'];corners=[rot(xx-p['x'],yy-p['y'],a) for xx in [b['minX'],b['maxX']] for yy in [b['minY'],b['maxY']]]+ return (x+min(v[0] for v in corners),y+min(v[1] for v in corners),x+max(v[0] for v in corners),y+max(v[1] for v in corners))+def fits(b,skip=None,gap=.25):+ if b[0]<104.5 or b[1]<58.5 or b[2]>167.5 or b[3]>131.5:return False+ return not any(r!=skip and b[0]<q[2]+gap and b[2]>q[0]-gap and b[1]<q[3]+gap and b[3]>q[1]-gap for r,q in boxes.items())+def setp(r,x,y,a,g):+ b=box(r,x,y,a)+ assert fits(b,r),(r,b,[(r1,b1) for r1,b1 in boxes.items() if b[0]<b1[2]+.25 and b[2]>b1[0]-.25 and b[1]<b1[3]+.25 and b[3]>b1[1]-.25])+ poses[r]=(x,y,a);boxes[r]=b;order.append(r);groups[r]=g+anchors=[('C2',140.7,76,0,'battery'),('C3',154.4,76,0,'battery'),('D1',141,68,0,'battery'),('R32',128,70,0,'sense'),('U6',127,75,90,'sense'),('U2',116,74,0,'supplies'),('U3',118,82,0,'supplies'),('U1',131,84,0,'supplies'),('U5',123,97,0,'control'),('U4',138.5,99,0,'driver'),('J1',113,113,0,'debug'),('SW1',108,101.5,0,'debug'),('Y1',115.3,96.5,0,'crystal')]+for phase,y,hi,lo in [('C',85,'Q5','Q6'),('B',99,'Q3','Q4'),('A',113,'Q1','Q2')]:anchors.extend([(hi,147.5,y,180,'phase'+phase),(lo,156,y,0,'phase'+phase)])+for r,x,y,a,g in anchors:setp(r,x,y,a,g)+def pad(r,n):+ p=next(p for p in P[r] if p['pad']==str(n));x,y,a=poses[r];dx,dy=rot(p['x'],p['y'],a);return x+dx,y+dy+# Explicit electrical placement targets. Smaller parts are oriented using their actual pad nets.+def want(r,g,xy,links=[]):targets[r]=dict(group=g,xy=xy,links=links)+def near(r,g,owner,pn):want(r,g,pad(owner,pn),[(owner,str(pn),8)])+for r,pn in [('C24',1),('C25',24),('C26',36),('C27',48)]:near(r,'control','U5',pn)+for r in ['C28','C29','FB1']:near(r,'analog','U5',20)+near('C30','control','U5',48);near('C44','sense','U6',6)+for r,pn in [('C35',1),('C36',3)]:near(r,'crystal','Y1',pn)+for r,pn in [('C39',7),('R20',7),('R19',45),('R17',43),('R18',44),('R21',26),('R22',26),('C40',26)]:near(r,'control','U5',pn)+for r in ['C6','C23']:near(r,'supplies','U3',5)+near('C9','supplies','U3',1)+for r in ['C4','C5','R1']:near(r,'supplies','U2',3)+near('C1','supplies','U2',8)+for r in ['C10','C11']:near(r,'supplies','U2',4)+want('D2','supplies',(111.5,69));near('JP1','supplies','U2',2)+near('C7','supplies','U1',2);near('C8','supplies','U1',3)+for r in ['C20','C22']:near(r,'driver','U4',7)+for r,pn in [('C12',20),('C13',17),('C21',14)]:near(r,'driver','U4',pn)+for phase,hi,lo,rs,caps in [('A','Q1','Q2',[2,3,4,5],[14,15,31,32]),('B','Q3','Q4',[7,8,9,10],[16,17,33,34]),('C','Q5','Q6',[12,13,14,15],[18,19,37,38])]:+ for n in rs[:2]:near('R'+str(n),'phase'+phase,hi,4)+ for n in rs[2:]:near('R'+str(n),'phase'+phase,lo,4)+ for n in caps:near('C'+str(n),'phase'+phase,hi,5)+for r in ['R23','R25','C41']:near(r,'analog','U5',14)+for rs,pn in [(['R24','R26','R27','C42'],13),(['R28','R29','R30','C43'],12),(['R31','R33','R34','C45'],8)]:+ for r in rs:near(r,'analog','U5',pn)+for led,res,xy in [('LED1','R6',(130,89)),('LED2','R11',(115,87)),('LED3','R16',(123,88))]:+ want(led,'indicators',xy);want(res,'indicators',(xy[0]+2,xy[1]))+for r in F:+ if r.startswith('TP'):+ net=P[r][0]['net'];refs=[q for q in poses if not F[q]['locked'] and any(p['net']==net for p in P[q])]+ if refs:+ q=min(refs,key=lambda q:0 if q.startswith('U') else 1);pn=next(p['pad'] for p in P[q] if p['net']==net);near(r,'test',q,pn)+ else:want(r,'test',(125,108))+# Supply test pads adjacent to accessible power groups; phase test pads beside fixed phase contacts.+for r,xy in [('TP7',(143,122)),('TP8',(146,68)),('TP12',(160,117)),('TP13',(160,103)),('TP14',(160,89)),('TP10',(113,77)),('TP15',(113,80)),('TP16',(113,90)),('TP17',(113,87))]:want(r,'test',xy)+assert set(F)==set(poses)|set(targets),set(F)-set(poses)-set(targets)+# Prioritize capacitors and pin-critical components over testpoints/indicators.+def prio(r):+ return (3 if r.startswith('TP') else 2 if r.startswith('LED') else 0 if r.startswith('C') or r in ['FB1','D2'] else 1,-(F[r]['courtyard']['maxX']-F[r]['courtyard']['minX'])*(F[r]['courtyard']['maxY']-F[r]['courtyard']['minY']))+for r in sorted(targets,key=prio):+ t=targets[r];tx,ty=t['xy'];best=None+ for a in [0,90,180,270]:+ for ix in range(-40,41):+ x=round(tx*2)/2+ix*.5+ for iy in range(-40,41):+ y=round(ty*2)/2+iy*.5+ dist=(x-tx)**2+(y-ty)**2+ if best and dist>best[0]:continue+ b=box(r,x,y,a)+ if not fits(b):continue+ # Match pad polarity and signal pads to the intended IC or transistor pin.+ score=dist+ for owner,pn,w in t['links']:+ op=next(p for p in P[owner] if p['pad']==pn);pts=[p for p in P[r] if p['net']==op['net']]+ if pts:+ ox,oy=pad(owner,pn);score+=w*min((x+rot(p['x'],p['y'],a)[0]-ox)**2+(y+rot(p['x'],p['y'],a)[1]-oy)**2 for p in pts)+ if best is None or score<best[0]:best=(score,x,y,a)+ if best is None:raise RuntimeError(('no fit',r))+ _,x,y,a=best;setp(r,x,y,a,t['group'])+plan=[dict(ref=r,x=poses[r][0],y=poses[r][1],rotation=poses[r][2],group=groups[r]) for r in order]+(D/'evidence/plan.json').write_text(json.dumps(plan,indent=2));(D/'evidence/planned-boxes.json').write_text(json.dumps(boxes));print('planned',len(plan),'fixed',len(F)-len(plan))+# Local plot, not a claim of editor validation.+import matplotlib;matplotlib.use('Agg')+import matplotlib.pyplot as plt+from matplotlib.patches import Rectangle+fig,ax=plt.subplots(figsize=(10,11));colors={'battery':'orange','sense':'cyan','supplies':'gold','control':'green','driver':'purple','phaseA':'red','phaseB':'red','phaseC':'red','analog':'lightgreen','test':'gray','crystal':'blue','debug':'teal','indicators':'gray'}+for r,(x1,y1,x2,y2) in boxes.items():+ ax.add_patch(Rectangle((x1,y1),x2-x1,y2-y1,facecolor=colors.get(groups.get(r),'silver'),edgecolor='black',alpha=.6));ax.text((x1+x2)/2,(y1+y2)/2,r,ha='center',va='center',fontsize=7)+ax.set_xlim(103,169);ax.set_ylim(133,57);ax.set_aspect('equal');ax.grid(alpha=.2);fig.savefig(D/'evidence/plan.png',dpi=160)
docs/examples/astra-esc/source/placement/plan.pyadded+24@@ -0,0 +1,24 @@+from bridge import *+import re,math+s=json.load(open(D/'evidence/state.json')); F={p['ref']:p for p in s['footprints']}+tokens=re.findall(r'"(?:\\.|[^"\\])*"|[()]|[^\s()]+',(D/'esc-g431-unplaced.kicad_pcb').read_text())+stack=[];root=None+for t in tokens:+ if t=='(':a=[];stack.append(a)+ elif t==')':+ a=stack.pop()+ if stack:stack[-1].append(a)+ else:root=a+ else:stack[-1].append(json.loads(t) if t.startswith('"') else t)+def children(x,k):return [v for v in x if isinstance(v,list) and v and v[0]==k]+def child(x,k):return next(iter(children(x,k)),None)+P={}+for fp in children(root,'footprint'):+ ref=next(v[2] for v in children(fp,'property') if v[1]=='Reference');ps=[]+ for p in children(fp,'pad'):+ at=child(p,'at');n=child(p,'net')+ if n:ps.append(dict(pad=p[1],x=float(at[1]),y=float(at[2]),net=n[-1]))+ P[ref]=ps+(D/'evidence/local-pads.json').write_text(json.dumps(P))+for r in ['U5','U4','U6','U2','Q1','Q2']:+ print(r,P[r])
docs/examples/astra-esc/source/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))
docs/examples/astra-esc/source/routing/build_corrected.pyadded+27@@ -0,0 +1,27 @@+from component_search import *+import sys+plans=json.load(open(sys.argv[1]));load(plans);out=[]+for p in plans:+ if p['net'] not in ['+VBAT','GND_OUT','/DRV_SHA','/DRV_SHB','/DRV_SHC']:+ out.append(p);continue+ a=masks(p['net'],1.0);narrow=[];wide=[]+ for path in p['paths']:+ z=path[0].get('layer','F.Cu') if isinstance(path[0],dict) else 'F.Cu'+ pos=lambda v:(v['x'],v['y']) if isinstance(v,dict) else v+ for u,v in zip(path,path[1:]):+ aa,bb=pos(u),pos(v);newz=v.get('layer',z) if isinstance(v,dict) else z+ if aa!=bb:+ length=math.dist(aa,bb);num=max(2,math.ceil(length/.025)+1)+ ok=length>=.6+ for t in np.linspace(0,1,num):+ x=aa[0]+(bb[0]-aa[0])*t;y=aa[1]+(bb[1]-aa[1])*t;i,j=ij(x,y)+ if a[1 if z=='B.Cu' else 0,j,i]:ok=False;break+ (wide if ok else narrow).append([dict(x=aa[0],y=aa[1],layer=z),list(bb)])+ if z!=newz:narrow.append([dict(x=bb[0],y=bb[1],layer=z),dict(x=bb[0],y=bb[1],layer=newz)]);z=newz+ for width,paths in [(.5,narrow),(1.,wide)]:+ for i in range(0,len(paths),128):out.append(dict(net=p['net'],width=width,paths=paths[i:i+128]))+# Short nets first, each commit carries only one net. Shared planes last.+out.sort(key=lambda p:(p['net'] in ['GND','+3V3'],max(math.hypot(a['x']-b['x'],a['y']-b['y']) for a in by[p['net']] for b in by[p['net']]),p['width']))+# Native KiCad detected a pad-edge tangency at U5.5; extend 0.05 mm into the pad.+next(p for p in out if p['net']=='/HSE_IN')['paths'].append([[121.4,100.25],[121.35,100.25]])+Path('corrected-final-plan.json').write_text(json.dumps(out,indent=2));print('commits',len(out),'wide paths',sum(len(p['paths']) for p in out if p['width']==1))
docs/examples/astra-esc/source/routing/component_search.pyadded+71@@ -0,0 +1,71 @@+from planner import *+import planner as m+# Component-aware search can start and end on copper on either layer.+def components(net):+ ps=by[net];nodes=[dict(g=p['g'],zs=[0,1] if p['type']=='thru_hole' else [0],pad=p) for p in ps]+[dict(c) for c in m.copper if c['net']==net]+ par=list(range(len(nodes)))+ def find(i):+ while par[i]!=i:par[i]=par[par[i]];i=par[i]+ return i+ tree=shapely.STRtree([c['g'] for c in nodes])+ for i,c in enumerate(nodes):+ for j in tree.query(c['g'],predicate='dwithin',distance=.004999):+ if j<i and set(c['zs'])&set(nodes[j]['zs']):par[find(i)]=find(int(j))+ out=defaultdict(list)+ for i,c in enumerate(nodes):out[find(i)].append(c)+ return [v for v in out.values() if any('pad' in c for c in v)]+def register2(net,points,width):+ z=1 if isinstance(points[0],dict) and points[0].get('layer')=='B.Cu' else 0+ for p,q in zip(points,points[1:]):+ zz=q.get('layer','B.Cu' if z else 'F.Cu') if isinstance(q,dict) else ('B.Cu' if z else 'F.Cu')+ pos=lambda v:(v['x'],v['y']) if isinstance(v,dict) else v+ a,b=pos(p),pos(q)+ if a!=b:m.copper.append(dict(net=net,g=LineString([a,b]).buffer(width/2),zs=[z]))+ if isinstance(q,dict) and zz!=('B.Cu' if z else 'F.Cu'):+ m.copper.append(dict(net=net,g=Point(*b).buffer(.4),zs=[0,1]));z=1 if zz=='B.Cu' else 0++def search_components(net,width,source,target):+ a=masks(net,width);start=np.zeros((2,H,W),dtype=np.uint8);goal=np.zeros_like(start)+ for collection,arr in [(source,start),(target,goal)]:+ for c in collection:+ for z in c['zs']:raster(arr[z],c['g'].buffer(width/2-.005))+ arr[a[:2]>0]=0+ ids=np.flatnonzero(start)+ if not len(ids) or not np.any(goal):return None+ g=unary_union([c['g'] for c in target]);t=g.centroid;tx,ty=ij(t.x,t.y)+ a.tofile('mask.bin');goal.tofile('goal.bin')+ r=subprocess.run(['./search2'],input=f'{W} {H} 0 {tx} {ty} {len(ids)} '+' '.join(map(str,ids)),capture_output=True,text=True)+ raw=json.loads(r.stdout)+ if not raw:return None+ out=[];curz=0+ for i,j,z in compress(raw):+ x,y=xy(i,j)+ if z!=curz or (not out and z):out.append(dict(x=x,y=y,layer='B.Cu' if z else 'F.Cu'))+ elif not out or [x,y]!=out[-1]:out.append([x,y])+ curz=z+ return out++def route_components(plan):+ net=plan['net'];width=plan['width'];cs=components(net)+ while len(cs)>1:+ pairs=sorted((unary_union([c['g'] for c in x]).distance(unary_union([c['g'] for c in y])),i,j) for i,x in enumerate(cs) for j,y in enumerate(cs[:i]))+ found=False+ for _,i,j in pairs:+ route=search_components(net,width,cs[i],cs[j])+ if route:+ register2(net,route,width);plan['paths'].append(route);found=True;break+ if not found:break+ cs=components(net)+ return len(cs)-1++def load(plans):+ m.copper.clear()+ for p in plans:+ for path in p['paths']:register2(p['net'],path,p['width'])+if __name__=='__main__':+ import sys+ plans=json.load(open(sys.argv[1]));load(plans)+ for plan in plans:+ if plan['net'] in ['GND','+3V3']:continue+ gaps=route_components(plan);print(plan['net'],gaps,flush=True)+ Path('component-repaired.json').write_text(json.dumps(plans,indent=2))
docs/examples/astra-esc/source/routing/final-plan.jsonadded+19711@@ -0,0 +1,19711 @@+[+ {+ "net": "/SW",+ "width": 0.25,+ "paths": [+ [+ [+ 124.1,+ 75.3+ ],+ [+ 124.35,+ 75.3+ ]+ ]+ ]+ },+ {+ "net": "/E_STOP",+ "width": 0.25,+ "paths": [+ [+ [+ 108.0,+ 95.000001+ ],+ [+ 108.0,+ 95.0+ ],+ [+ 106.25,+ 95.0+ ],+ [+ 106.2,+ 95.05+ ]+ ]+ ]+ },+ {+ "net": "/DRV_GLC",+ "width": 0.25,+ "paths": [+ [+ [+ 139.762,+ 101.275+ ],+ [+ 139.75,+ 101.3+ ],+ [+ 138.05,+ 101.3+ ],+ [+ 138.0,+ 101.35+ ]+ ]+ ]+ },+ {+ "net": "/DRV_GLA",+ "width": 0.25,+ "paths": [+ [+ [+ 145.5,+ 102.25+ ],+ [+ 145.5,+ 103.2+ ],+ [+ 145.25,+ 103.45+ ],+ [+ 145.25,+ 103.5+ ]+ ]+ ]+ },+ {+ "net": "/DRV_GLB",+ "width": 0.25,+ "paths": [+ [+ [+ 139.762,+ 101.925+ ],+ [+ 139.75,+ 101.9+ ],+ [+ 139.4,+ 102.25+ ],+ [+ 139.4,+ 103.65+ ]+ ]+ ]+ },+ {+ "net": "/DRV_GHC",+ "width": 0.25,+ "paths": [+ [+ [+ 145.63799999999998,+ 100.625+ ],+ [+ 145.65,+ 100.6+ ],+ [+ 147.05,+ 100.6+ ],+ [+ 147.15,+ 100.7+ ],+ [+ 147.2,+ 100.7+ ],+ [+ 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docs/examples/astra-esc/source/routing/geometry.pyadded+48@@ -0,0 +1,48 @@+import re,json,math+from pathlib import Path+from shapely.geometry import Point,box,Polygon,LineString+from shapely import affinity+from shapely.ops import unary_union+def parse(s):+ toks=re.findall(r'"(?:\\.|[^"\\])*"|[()]|[^\s()]+',s); stack=[];root=None+ for t in toks:+ if t=='(':stack.append([])+ elif t==')':+ v=stack.pop()+ if stack:stack[-1].append(v)+ else:root=v+ else:+ try:v=json.loads(t) if t.startswith('"') else float(t)+ except:v=t+ stack[-1].append(v)+ return root+def allof(x,k):return [v for v in x if isinstance(v,list) and v and v[0]==k]+def one(x,k,d=None):return next(iter(allof(x,k)),d)+def val(x,k,d=None):+ a=one(x,k);return a[1] if a else d+root=parse(Path('esc-g431-fable-placed-planes.kicad_pcb').read_text())+pads=[];keepouts=[]+for f in allof(root,'footprint'):+ ref=next(p[2] for p in allof(f,'property') if p[1]=='Reference'); fa=one(f,'at');fx,fy=fa[1:3];ang=fa[3] if len(fa)>3 else 0+ for p in allof(f,'pad'):+ a=one(p,'at');px,py=a[1:3];pa=a[3] if len(a)>3 else 0;sz=one(p,'size');w,h=sz[1:3];shape=p[3]+ if shape=='circle':g=Point(0,0).buffer(w/2,quad_segs=16)+ elif shape=='oval':+ g=LineString([(-(w-h)/2,0),((w-h)/2,0)]).buffer(h/2) if w>h else LineString([(0,-(h-w)/2),(0,(h-w)/2)]).buffer(w/2)+ elif shape=='roundrect':+ r=min(w,h)*val(p,'roundrect_rratio',.25);g=box(-w/2+r,-h/2+r,w/2-r,h/2-r).buffer(r)+ else:g=box(-w/2,-h/2,w/2,h/2)+ if shape=='custom':+ shapes=[g]; prim=one(p,'primitives',[])+ for q in allof(prim,'gr_poly'):+ pts=[v[1:3] for v in one(q,'pts')[1:]];pg=Polygon(pts);shapes.append(pg.buffer(val(q,'width',0)/2))+ g=unary_union(shapes)+ # pad angle stored board absolute angle, coordinates footprint local+ g=affinity.rotate(g,-pa,origin=(0,0));cx=fx+px*math.cos(math.radians(ang))+py*math.sin(math.radians(ang));cy=fy-px*math.sin(math.radians(ang))+py*math.cos(math.radians(ang));g=affinity.translate(g,cx,cy)+ n=one(p,'net');net=n[-1] if n else ''; layers=one(p,'layers')[1:];dr=one(p,'drill');hole=0+ if dr:+ hole=max([v for v in dr[1:] if isinstance(v,(int,float))],default=0)+ pads.append(dict(name=ref+'.'+str(int(p[1]) if isinstance(p[1],float) else p[1]),net=net,x=cx,y=cy,g=g,layers=layers,type=p[2],clearance=max(val(p,'clearance',0),val(f,'clearance',0)),hole=hole))+if __name__=='__main__':+ print(len(pads));print('shapes',[(p['name'],p['g'].bounds,p['clearance']) for p in pads if p['clearance']]);print('zones',[(val(z,'net_name'),val(z,'layer')) for z in allof(root,'zone')]);print('edges',[(a[0],one(a,'start'),one(a,'end')) for a in root if isinstance(a,list) and val(a,'layer')=='Edge.Cuts'])+ st=json.load(open('evidence/initial-state.json'));live={p['name']:p for p in st['pads']};print('maxcoorderror',max(math.hypot(p['x']-live[p['name']]['x'],p['y']-live[p['name']]['y']) for p in pads))
docs/examples/astra-esc/source/routing/planner.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'])+.005+ 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(.205+width/2))+ raster(a[2],c['g'].buffer(.205+.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)
docs/examples/astra-esc/source/routing/repair2.pyadded+65@@ -0,0 +1,65 @@+import planner as m+from planner import *+m.copper.clear()+plans=json.load(open('evidence/plan-before-live.json'))+for p in plans:+ for path in p['paths']:register(p['net'],path,p['width'])+def search2(a,start,target,goalgeo,width=.25,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.buffer(width/2-.04))+ goal[a[:2]>0]=0+ starts=np.zeros((H,W),dtype=np.uint8);raster(starts,start['g'].buffer(width/2-.04));starts[a[0]>0]=0+ ids=np.flatnonzero(starts)+ if not len(ids) or not np.any(goal):return None+ a.tofile('mask.bin');goal.tofile('goal.bin');tx,ty=ij(*target)+ r=subprocess.run(['./search2'],input=f'{W} {H} 0 {tx} {ty} {len(ids)} '+ ' '.join(map(str,ids)),capture_output=True,text=True)+ raw=json.loads(r.stdout)+ if not raw:return None+ ps=compress(raw);out=[];curz=0+ for i,j,z in ps:+ x,y=xy(i,j)+ if z!=curz:out.append(dict(x=x,y=y,layer='B.Cu' if z else 'F.Cu'))+ elif [x,y]!=(out[-1] if out else None):out.append([x,y])+ curz=z+ return out+# Associate the connected pad groups using already planned native geometry.+def groups(net):+ ps=by[net];nodes=[(p['g'],[0,1] if p['type']=='thru_hole' else [0]) for p in ps]+[(c['g'],c['zs']) for c in m.copper if c['net']==net]+ parent=list(range(len(nodes)))+ def find(i):+ while parent[i]!=i:parent[i]=parent[parent[i]];i=parent[i]+ return i+ for i,(g,z) in enumerate(nodes):+ for j,(h,zz) in enumerate(nodes[:i]):+ if set(z)&set(zz) and g.distance(h)<.005:parent[find(i)]=find(j)+ out=defaultdict(list)+ for i,p in enumerate(ps):out[find(i)].append(p)+ return list(out.values())+for net,layer in [('GND','In1.Cu'),('+3V3','In2.Cu')]:+ plan=next(p for p in plans if p['net']==net)+ for p in by[net]:+ if p['type']=='thru_hole':continue+ if any(c['net']==net and c['g'].intersects(p['g']) for c in m.copper):continue+ route=search2(masks(net,.25),p,(p['x'],p['y']),[],plane=True)+ if route:+ e=route[-1];route.append(dict(x=e[0],y=e[1],layer=layer));register(net,route,.25);plan['paths'].append(route);print('plane repair',net,p['name'],flush=True)+for plan in plans:+ net=plan['net'];width=plan['width']+ if net in ['GND','+3V3']:continue+ gr=groups(net);tries=set()+ while len(gr)>1:+ pairs=sorted((math.hypot(p['x']-q['x'],p['y']-q['y']),i,j,p,q) for i,pp in enumerate(gr) for j,qq in enumerate(gr[:i]) for p in pp for q in qq)+ changed=False+ for dist,i,j,p,q in pairs:+ key=(p['name'],q['name'])+ if key in tries:continue+ tries.add(key);goals=[]+ for t in gr[j]:goals.append((0,t['g']))+ a=masks(net,width);route=search2(a,p,(q['x'],q['y']),goals,width)+ if route:+ register(net,route,width);plan['paths'].append(route);changed=True;print('repair',net,p['name'],q['name'],flush=True);break+ if not changed:print('remaining',net,[[p['name'] for p in g] for g in gr],flush=True);break+ gr=groups(net)+ Path('plan-repair2.json').write_text(json.dumps(plans,indent=2))
docs/examples/astra-esc/source/routing/search.cppadded+3@@ -0,0 +1,3 @@+#include <bits/stdc++.h>+using namespace std;+int main(){int W,H,s;cin>>W>>H>>s;int N=W*H;vector<unsigned char>b(3*N),goal(2*N);ifstream f("mask.bin",ios::binary);f.read((char*)b.data(),3*N);ifstream g("goal.bin",ios::binary);g.read((char*)goal.data(),2*N);int tx,ty;cin>>tx>>ty;auto heur=[&](int a){int p=a%N,x=p%W,y=p/W;double dx=abs(x-tx),dy=abs(y-ty);return max(dx,dy)+.41421356*min(dx,dy);}; vector<double>d(2*N,1e30);vector<int>prev(2*N,-1);priority_queue<pair<double,int>,vector<pair<double,int>>,greater<pair<double,int>>>q;d[s]=0;q.push({heur(s),s});int end=-1,count=0;int dx[]={1,1,0,-1,-1,-1,0,1},dy[]={0,1,1,1,0,-1,-1,-1};while(!q.empty()){auto [cost,a]=q.top();q.pop();if(cost>d[a]+heur(a)+1e-5)continue;if(goal[a]){end=a;break;}if(++count>1500000)break;int z=a/N,p=a%N,x=p%W,y=p/W;for(int k=0;k<9;k++){int v;double c;if(k==8){if(b[2*N+p])continue;v=(1-z)*N+p;c=35;}else{int xx=x+dx[k],yy=y+dy[k];if(xx<0||yy<0||xx>=W||yy>=H)continue;v=z*N+yy*W+xx;c=k%2?1.41421356:1.;if(k%2&&(b[z*N+y*W+xx]||b[z*N+yy*W+x]))continue;}if(b[v])continue;double nd=d[a]+c;if(nd+1e-8<d[v]){d[v]=nd;prev[v]=a;q.push({nd+heur(v),v});}}} if(end<0){cout<<"[]";return 0;}vector<int>path;for(int a=end;a>=0;a=prev[a])path.push_back(a);reverse(path.begin(),path.end());cout<<'[';for(int i=0;i<path.size();i++){if(i)cout<<',';cout<<path[i];}cout<<']';}
docs/examples/astra-esc/source/routing/search2.cppadded+3@@ -0,0 +1,3 @@+#include <bits/stdc++.h>+using namespace std;+int main(){int W,H,s;cin>>W>>H>>s;int N=W*H;vector<unsigned char>b(3*N),goal(2*N);ifstream f("mask.bin",ios::binary);f.read((char*)b.data(),3*N);ifstream g("goal.bin",ios::binary);g.read((char*)goal.data(),2*N);int tx,ty;cin>>tx>>ty;auto heur=[&](int a){int p=a%N,x=p%W,y=p/W;double dx=abs(x-tx),dy=abs(y-ty);return max(dx,dy)+.41421356*min(dx,dy);}; vector<double>d(2*N,1e30);vector<int>prev(2*N,-1);priority_queue<pair<double,int>,vector<pair<double,int>>,greater<pair<double,int>>>q;int ns;cin>>ns;for(int i=0;i<ns;i++){int st;cin>>st;d[st]=0;q.push({heur(st),st});}int end=-1,count=0;int dx[]={1,1,0,-1,-1,-1,0,1},dy[]={0,1,1,1,0,-1,-1,-1};while(!q.empty()){auto [cost,a]=q.top();q.pop();if(cost>d[a]+heur(a)+1e-5)continue;if(goal[a]){end=a;break;}if(++count>1500000)break;int z=a/N,p=a%N,x=p%W,y=p/W;for(int k=0;k<9;k++){int v;double c;if(k==8){if(b[2*N+p])continue;v=(1-z)*N+p;c=35;}else{int xx=x+dx[k],yy=y+dy[k];if(xx<0||yy<0||xx>=W||yy>=H)continue;v=z*N+yy*W+xx;c=k%2?1.41421356:1.;if(k%2&&(b[z*N+y*W+xx]||b[z*N+yy*W+x]))continue;}if(b[v])continue;double nd=d[a]+c;if(nd+1e-8<d[v]){d[v]=nd;prev[v]=a;q.push({nd+heur(v),v});}}} if(end<0){cout<<"[]";return 0;}vector<int>path;for(int a=end;a>=0;a=prev[a])path.push_back(a);reverse(path.begin(),path.end());cout<<'[';for(int i=0;i<path.size();i++){if(i)cout<<',';cout<<path[i];}cout<<']';}
docs/examples/astra-esc/source/routing/search3.cppadded+3@@ -0,0 +1,3 @@+#include <bits/stdc++.h>+using namespace std;+int main(){int W,H,s;cin>>W>>H>>s;int N=W*H;vector<unsigned char>b(3*N),goal(2*N);ifstream f("mask.bin",ios::binary);f.read((char*)b.data(),3*N);ifstream g("goal.bin",ios::binary);g.read((char*)goal.data(),2*N);vector<unsigned short>pen(3*N);ifstream pf("penalty.bin",ios::binary);pf.read((char*)pen.data(),6*N);int tx,ty;cin>>tx>>ty;auto heur=[&](int a){int p=a%N,x=p%W,y=p/W;double dx=abs(x-tx),dy=abs(y-ty);return max(dx,dy)+.41421356*min(dx,dy);}; vector<double>d(2*N,1e30);vector<int>prev(2*N,-1);priority_queue<pair<double,int>,vector<pair<double,int>>,greater<pair<double,int>>>q;int ns;cin>>ns;for(int i=0;i<ns;i++){int st;cin>>st;d[st]=0;q.push({heur(st),st});}int end=-1,count=0;int dx[]={1,1,0,-1,-1,-1,0,1},dy[]={0,1,1,1,0,-1,-1,-1};while(!q.empty()){auto [cost,a]=q.top();q.pop();if(cost>d[a]+heur(a)+1e-5)continue;if(goal[a]){end=a;break;}if(++count>6000000)break;int z=a/N,p=a%N,x=p%W,y=p/W;for(int k=0;k<9;k++){int v;double c;if(k==8){if(b[2*N+p])continue;v=(1-z)*N+p;c=35;}else{int xx=x+dx[k],yy=y+dy[k];if(xx<0||yy<0||xx>=W||yy>=H)continue;v=z*N+yy*W+xx;c=k%2?1.41421356:1.;if(k%2&&(b[z*N+y*W+xx]||b[z*N+yy*W+x]))continue;}if(b[v])continue;c *= 1.0+(k==8 ? pen[2*N+p] : pen[v]);double nd=d[a]+c;if(nd+1e-8<d[v]){d[v]=nd;prev[v]=a;q.push({nd+heur(v),v});}}} if(end<0){cout<<"[]";return 0;}vector<int>path;for(int a=end;a>=0;a=prev[a])path.push_back(a);reverse(path.begin(),path.end());cout<<'[';for(int i=0;i<path.size();i++){if(i)cout<<',';cout<<path[i];}cout<<']';}
docs/examples/astra-esc/source/routing/soft_repair3.pyadded+74@@ -0,0 +1,74 @@+from component_search import *+from soft_search2 import search_soft+import soft_search2 as soft+import ast+src=Path('repair2.py').read_text().replace('width/2-.04','width/2-.005')+exec(compile(ast.Module(body=[n for n in ast.parse(src).body if isinstance(n,ast.FunctionDef) and n.name=='search2'],type_ignores=[]),'plane-search','exec'),globals())+import copy,sys,random+plans=json.load(open(sys.argv[1] if len(sys.argv)>1 else 'component-repaired.json'))+load(plans)+def gaps():return {p['net']:len(components(p['net']))-1 for p in plans if p['net'] not in ['GND','+3V3'] and len(components(p['net']))>1}+def pathgeo(plan,path):+ old=list(m.copper);m.copper.clear();register2(plan['net'],path,plan['width']);cs=list(m.copper);m.copper[:]=old;return cs+best=sum(gaps().values());print('INITIAL',gaps(),flush=True)+attempts=defaultdict(int)+for iteration in range(300):+ m.X0=104.0+.025*(iteration%2);m.Y0=58.0+.025*((iteration//2)%2)+ missing=gaps()+ if not missing:break+ net=min(missing,key=lambda n:attempts[n]);attempts[net]+=1;plan=next(p for p in plans if p['net']==net)+ before=copy.deepcopy(plans);old=list(m.copper)+ cs=components(net);pairs=sorted((unary_union([c['g'] for c in x]).distance(unary_union([c['g'] for c in y])),i,j) for i,x in enumerate(cs) for j,y in enumerate(cs[:i]))+ # Search against pads, planes, and this net, then identify exact donor paths.+ m.copper[:]=old+ candidates=[]+ for _,i,j in pairs:+ route=search_soft(net,plan['width'],cs[i],cs[j])+ if route:candidates.append(route)+ if len(candidates)>=3:break+ m.copper[:]=old+ if not candidates:+ for _,i,j in pairs:+ route=search_soft(net,plan['width'],cs[i],cs[j],allow_planes=True)+ if route:candidates.append(route);break+ if not candidates:+ print(iteration,'NO CANDIDATE',net,flush=True);continue+ scored=[]+ for route in candidates:+ new=pathgeo(plan,route);donors=[]+ for q in plans:+ if q['net']==net:continue+ for ix,path in enumerate(q['paths']):+ gc=pathgeo(q,path)+ if any(set(a['zs'])&set(b['zs']) and a['g'].distance(b['g'])<.205 for a in new for b in gc):donors.append((q['net'],ix))+ scored.append((len(donors),route,donors))+ _,route,donors=min(scored,key=lambda x:x[0]);print(iteration,'RIP',net,donors,flush=True)+ plane_pads=[]+ for n,i in donors:+ if n in ['GND','+3V3']:+ q=next(p for p in plans if p['net']==n);v=q['paths'][i][0];pt=Point((v['x'],v['y']) if isinstance(v,dict) else v);plane_pads.append(min((p for p in by[n] if p['type']!='thru_hole'),key=lambda p:p['g'].distance(pt)))+ for q in plans:q['paths']=[p for i,p in enumerate(q['paths']) if (q['net'],i) not in donors]+ load(plans)+ # Recheck the route against all remaining copper before registering it.+ # Exact paths above came from the hard pad/plane mask; all conflicts removed.+ register2(net,route,plan['width']);plan['paths'].append(route)+ plane_ok=True+ for p in plane_pads:+ q=next(q for q in plans if q['net']==p['net'])+ stub=search2(masks(p['net'],.25),p,(p['x'],p['y']),[],plane=True)+ if not stub:plane_ok=False;break+ e=stub[-1];stub.append(dict(x=e[0],y=e[1],layer='In1.Cu' if p['net']=='GND' else 'In2.Cu'));register2(p['net'],stub,.25);q['paths'].append(stub)+ if not plane_ok:+ plans=before;load(plans);print('REVERT plane stub blocked',flush=True);continue+ todo=list(dict.fromkeys(n for n,i in donors if n not in ['GND','+3V3']))+ for n in todo:+ q=next(p for p in plans if p['net']==n);route_components(q)+ for c in pathgeo(plan,route):+ for z in c['zs']:+ tmp=np.zeros((H,W),dtype=np.uint16);raster(tmp,c['g'].buffer(.205),5);soft.history[z]=np.minimum(soft.history[z]+tmp,2000)+ remaining=gaps();score=sum(remaining.values());print('RESULT',score,remaining,flush=True)+ Path('soft3-current.json').write_text(json.dumps(plans,indent=2))+ if score<best:+ best=score;Path('soft3-best.json').write_text(json.dumps(plans,indent=2));print('BEST',best,flush=True)+ if score>max(best+3,5):+ plans=before;load(plans);print('REVERT regression',flush=True)
docs/examples/astra-esc/source/routing/soft_search2.pyadded+31@@ -0,0 +1,31 @@+from component_search import *+history=np.zeros((3,H,W),dtype=np.uint16)+def search_soft(net,width,source,target,allow_planes=False):+ old=list(m.copper)+ m.copper[:]=[c for c in old if c['net']==net or (not allow_planes and c['net'] in ['GND','+3V3'])]+ a=masks(net,width);m.copper[:]=old+ pen=np.zeros((3,H,W),dtype=np.uint16)+ for c in old:+ if c['net']==net or (not allow_planes and c['net'] in ['GND','+3V3']):continue+ for z in c['zs']:raster(pen[z],c['g'].buffer(.205+width/2),100 if c['net'] in ['GND','+3V3'] else 30)+ raster(pen[2],c['g'].buffer(.205+.4),30)+ pen=np.minimum(pen+history,60000);pen.tofile('penalty.bin')+ start=np.zeros((2,H,W),dtype=np.uint8);goal=np.zeros_like(start)+ for collection,arr in [(source,start),(target,goal)]:+ for c in collection:+ for z in c['zs']:raster(arr[z],c['g'].buffer(width/2-.005))+ arr[a[:2]>0]=0+ ids=np.flatnonzero(start)+ if not len(ids) or not np.any(goal):return None+ g=unary_union([c['g'] for c in target]);t=g.centroid;tx,ty=ij(t.x,t.y)+ a.tofile('mask.bin');goal.tofile('goal.bin')+ r=subprocess.run(['./search3'],input=f'{W} {H} 0 {tx} {ty} {len(ids)} '+' '.join(map(str,ids)),capture_output=True,text=True)+ raw=json.loads(r.stdout)+ if not raw:return None+ out=[];curz=0+ for i,j,z in compress(raw):+ x,y=xy(i,j)+ if z!=curz or (not out and z):out.append(dict(x=x,y=y,layer='B.Cu' if z else 'F.Cu'))+ elif not out or [x,y]!=out[-1]:out.append([x,y])+ curz=z+ return out
skills/eda-end-to-end-layout/SKILL.mdadded+45@@ -0,0 +1,45 @@+---+name: eda-end-to-end-layout+description: Carry an independently generated PCB placement through routing, power and thermal copper planning, ablation-aware retention and native validation. Use for complete AI board layouts and fair engine comparisons; preserve design provenance and distinguish a worked-example planner from a reusable router.+---+Parent skill: eda-engineering++# Establish the experiment and its provenance++Record the common schematic/netlist, BOM and footprint identities, fixed interfaces, outline, stackup, manufacturing profile and operating conditions. Hash inputs. For an end-to-end engine comparison, each engine must generate its own movable-part placement, routes and pours. Do not switch to another engine's placed fixture between stages. A shared-placement routing benchmark is a different experiment: label it explicitly, never substitute it for an end-to-end result.++Preserve stage artifacts and a manifest linking each output to the actual input hash and planner revision. A previously verified placement from the same engine can be replayed or continued with its original provenance and accounting; call replay a replay. Never silently describe reused coordinates as newly calculated placement. Strip inherited route and zone geometry from a starting fixture, except common planes or mechanically constrained geometry explicitly allowed by the experiment.++# Plan useful copper before filling the routing corridors++Read the electrical-routing, thermal-bottlenecks and copper-ablation skills. Determine current paths and returns, actual continuous/peak loads and duty, voltage, layer copper thickness, via plating assumptions, cooling conditions and temperature limits. A sense amplifier's full-scale current is not the board's current rating. Preserve manufacturer constraints and stricter electrical rules. Continue independent work while missing load specifications are resolved; label provisional analysis.++Place connectors, power devices, bulk/decoupling capacitors, shunts, drivers and sense amplifiers to reserve short, wide power paths and compact switching loops. Keep Kelvin sense takeoffs at the intended shunt terminals; a ground-net name does not authorize merging a dedicated sense path indiscriminately into a power-return pour. Assign each exposed pad to its actual net. Reserve thermal-via and spreading regions before signal routing blocks them.++Classify each net: quiet supply, power return, high-dv/dt switching node, gate drive, current sense, analog/feedback, clock/differential or ordinary signal. Choose copper geometry for the function. A switching node still needs sufficient conductor cross-section; constrain unnecessary area and overlap rather than applying a blanket prohibition on polygons. More grounded copper does not automatically cause a ground loop, and splitting a reference plane can worsen return paths. Review the actual current loops and reference continuity.++# Iterate placement, routing and native pours++1. Validate placement and fixed-interface preservation. Minimize critical loop geometry as well as wire length. A low ratsnest metric alone is insufficient.+2. Route critical escapes and sensitive paths while preserving the planned power and thermal regions. Use the selected CAD bridge and native undo/validation mechanisms. Keep the actual net identity and footprint pad geometry authoritative.+3. Build net-assigned regions on each usable copper layer. Select priorities, clearances, neck widths, pad connections, stitching/thermal vias and keepouts from this board's rules. Do not copy numerical gaps or expansion steps from an example as universal defaults.+4. Refill natively. Inspect connected geometry, not zone outlines. Check the narrowest necks, pad entrances, thermal spokes, via arrays, connector transitions, return continuity, isolated islands and layer-to-layer transitions.+5. Where a signal route cuts a useful power/thermal corridor, evaluate moving the route or relocating the obstructing component. Refill and revalidate every accepted change. Compare electrical and thermal consequences, not merely copper area.+6. Retain additional copper for ablation only where electrical behavior and fabrication permit. Do not turn every signal into a broad pour. Keep sensitive-node, antenna, isolation and impedance keepouts. Floating retention requires an explicit process/electrical decision and separate reporting.+7. Stop iterating when requirements are met or a documented constraint prevents them, not after an arbitrary number of expansion rounds. Preserve rejected candidates and reasons.++On two-layer boards, route and return copper compete on the same two surfaces. On four or more layers, account for actual plane assignments, dielectric spacing, copper thickness and interlayer vias. Do not partition a reference plane or change stackup solely to increase retained area. Analyze each layer and the connected multilayer path.++# Evidence and acceptance++Require zero new native DRC errors and zero unconnected items, with inherited violations identified by type and affected item IDs. Report placement, routing, filled copper and electrical qualification separately. DRC success and copper area do not prove current capacity, temperature or signal integrity.++Measure unioned copper per net and layer inside the usable outline, including tracks/pads/vias and filled zones without double-counting. Subtract drill voids; report islands separately. Compare material-to-remove against the same board before added pours. Area reduction is not a measured machining-time reduction. Report bottleneck widths, copper thickness, via count/plating assumptions and estimated resistance/drop/losses where justified. Validate simulation meshes and boundary conditions before claiming current-density or thermal results.++Publish actual source, configuration, input/output manifests, native results, timestamps, costs and failed attempts through the owning shared project. Report bridge defects to its maintainer with reproduction and evidence so fixes ship to all Adom users; a private executable is not distribution. Skills are reusable guidance; a hardcoded board demo must be labeled and tested before it becomes a generic tool.++# Sources and example++- [TI motor-driver layout](https://www.ti.com/lit/an/slva959b/slva959b.pdf): power loops, conductor paths, returns and thermal layout.+- [TI current-sense layout](https://www.ti.com/document-viewer/lit/html/SSZTAD8/GUID-B8989FC6-7E3F-4B21-8E84-7390293FB0EF): preserving dedicated sense traces against unintended plane connections.+- [Astra ESC source and limitations](../../docs/examples/astra-esc/README.md).