app
KiCad - the KiCad Bridge
Public Made by Adomby adom
Reference implementation of the KiCad bridge: multi-instance Python server, forward path via kicad-cli, reverse path via in-process plugin. Most complex of the three bundled bridges.
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ESC routing round: planes fixture (GND In1, +3V3 In2), Fable's grid router, offline DRC gate, live replay
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demo/routing/esc/README.md+247demo/routing/esc/ai_router.py+1284demo/routing/esc/esc-g431-fable-placed-planes.kicad_pcb+29972demo/routing/esc/escboard.py+532demo/routing/esc/fable-esc-routing-plan.json+9814demo/routing/esc/fable-esc-routing-report.json+984demo/routing/esc/offline-drc-report.json+67demo/routing/esc/plan-preview.pngdemo/routing/esc/render_plan.py+69demo/routing/esc/route_live.py+95demo/routing/esc/write_copper.py+481tools/add_planes.py+122demo/routing/esc/README.mdadded+247@@ -0,0 +1,247 @@+# ESC G431 routing round: Claude Fable 5.1's router++The placement round left `esc-g431-fable-placed.kicad_pcb`: 149 footprints inside a 64 x 74 mm+outline, four copper layers, 365 pads, 59 nets with two or more pads, no copper. This folder is+the routing round: a real grid maze router written for the board, an offline DRC gate that proves+its plan before anything touches a desktop, and the live replay through the bridge.++Everything here is Python 3 with numpy. Nothing in the Rust workspace changed.++## The four scripts++| Script | What it does |+|---|---|+| `tools/add_planes.py` | Adds two full-outline copper zones to a copy of the board: GND on In1.Cu and +3V3 on In2.Cu. Output `esc-g431-fable-placed-planes.kicad_pcb`. `--drc` runs the shared headless KiCad DRC on it. |+| `demo/routing/esc/ai_router.py` | The router. Reads the planes board, writes the plan JSON (`fable-esc-routing-plan.json`) and a report (`fable-esc-routing-report.json`). |+| `demo/routing/esc/write_copper.py` | Applies a plan offline into a copy of the board (segments, vias, uuids, net references, widths, layers), adds a raster fill to the plane zones so connectivity through the planes counts, runs `service-kicad pcb drc` and compares the errors with the unrouted board. This is the gate. |+| `demo/routing/esc/route_live.py` | Replays the plan through the bridge: `kicad_routing_state`, one `kicad_route_net` per plan entry with `expectedRevision`, `dryRun` support, a timestamped JSON log, stops on `drc_rejected` or `stale_board`, ends with `kicad_routing_validate`. |++`escboard.py` is the shared board model (pads in board coordinates with KiCad's rotation+convention, custom pad polygons, the outline, the 0.1 mm grid rasterisers). `render_plan.py`+draws a plan over the pads as a PNG for a quick look.++## How to run++```sh+# 1. planes (writes demo/routing/esc/esc-g431-fable-placed-planes.kicad_pcb, prints the DRC counts)+python3 tools/add_planes.py demo/routing/esc/esc-g431-fable-placed.kicad_pcb --drc++# 2. route (about ten minutes on the container; writes the plan and the report)+python3 demo/routing/esc/ai_router.py demo/routing/esc/esc-g431-fable-placed-planes.kicad_pcb \+ --out demo/routing/esc/fable-esc-routing-plan.json --report demo/routing/esc/fable-esc-routing-report.json++# 3. offline gate (writes the routed copy and the DRC summary; exit 0 only at zero new errors and zero unconnected)+python3 demo/routing/esc/write_copper.py demo/routing/esc/esc-g431-fable-placed-planes.kicad_pcb \+ demo/routing/esc/fable-esc-routing-plan.json --out demo/routing/esc/esc-g431-fable-routed-offline.kicad_pcb \+ --drc --report demo/routing/esc/offline-drc-report.json++# 4. live replay (John runs this one; the planes board must be the file open in KiCad)+python3 demo/routing/esc/route_live.py --target arav-rog \+ --board "C:/Users/arav/Documents/esc/esc-g431-fable-placed-planes.kicad_pcb" \+ --plan demo/routing/esc/fable-esc-routing-plan.json --log demo/routing/esc/route-log.json [--dry-run]++# a picture of the plan+python3 demo/routing/esc/render_plan.py demo/routing/esc/esc-g431-fable-placed-planes.kicad_pcb \+ demo/routing/esc/fable-esc-routing-plan.json demo/routing/esc/plan-preview.png --labels+```++## What the router does++**Grid and layers.** A 0.1 mm cell grid over the outline (641 x 741 cells), two signal layers+(F.Cu and B.Cu) joined by through vias, 0.8 mm with a 0.4 mm drill. The planes on In1.Cu and+In2.Cu are never routed on.++**Rules.** This board has no project file, so KiCad's defaults apply and the router uses them:+0.25 mm track, 0.2 mm clearance, 0.5 mm copper to board edge, plus the local `(clearance 0.6)`+overrides on the phase contacts MC5, MC9, MC11 and the machine pin MP3. The bridge's+`kicad_route_net` gets `viaSize` 0.8 and `viaDrill` 0.4 on every call.++**Search.** A* per connection, eight neighbours (octilinear), costs 10 per orthogonal cell and 14+per diagonal, times 1.1 on B.Cu (prefer F.Cu), plus 250 per via (heavily penalised) and 4 per+direction change (a little). Collinear cells merge into one segment. A diagonal step is allowed+only when one of its ends also clears a larger dilation covering the midpoint of the step, so a+45-degree segment never clips a corner of a pad.++**Obstacles.** For the net being routed, every pad and every committed segment and via of any+other net is dilated by its clearance plus half the track width plus half a cell diagonal (pads+sit off-grid). Through pads exist on both layers. The outline is inset by the edge clearance.+Own-net copper is free space, so a branch can end on the net's own track.++**Fine-pitch pins.** A pad narrower than 0.5 mm (the LQFP-48, the DRV8300 and the buck module+pins) is entered on its long axis: a 0.2 mm stub from the exact pad centre to an on-grid escape+point 0.45 mm beyond either pad end, and the route starts there. The stub and a short corridor+beyond it are reserved for the pin until it is routed, an IC body is a keepout on F.Cu for nets+with no pin on that IC, a band around the IC carries a small cost so routes do not run along a+pin row, and a via pays extra for every unrouted neighbour pin whose straight path it would wall+in. Pads that overlap on the same net (the MOSFET source pads) form one cluster and are hit once.++**Nets.** A net with N clusters is a minimum spanning tree: Prim's order from the biggest pad,+each new cluster routed to ANY copper the net already has (pads, tracks, vias, escape points).+A branch that lands mid-segment splits that segment at the on-grid junction so KiCad sees+connected copper. Nets are routed shortest MST first, then longest.++**Widths.** +VBAT and the three phase nets /DRV_SHA, /DRV_SHB and /DRV_SHC (these are also the+MOSFET drain and source nets) try 1.0 mm, then 0.5, then 0.25; +5V and +12V try 0.5 then 0.25;+everything else is 0.25 mm. A pad narrower than the width caps it (a 1.0 mm track never enters+a 0.35 mm pin), and the fallback happens per connection when the wider search finds no path.++**Planes.** GND and +3V3 pads are not routed as traces. Every SMD pad on those nets gets the+shortest stub (Dijkstra) to the first cell where a 0.8 mm via fits, and the via reaches the+plane; through pads on those nets already reach the plane and get nothing. When no site fits+within 6 mm the via goes in the pad (exact geometry check; reported). The plane stubs are routed+first because they are the shortest connections on the board and their vias then shape the+signal routing rather than hunting for holes in it afterwards.++**Rip-up and retry.** When a connection fails on every width and window, a second search treats+other nets' tracks as expensive rather than solid; the nets it crosses are ripped up (most+recently routed first, two at a time), the failing net is routed again, and the ripped nets are+re-queued. Bounded to three rip-ups per net and 120 in total.++## How the plan maps to `kicad_route_net`++The plan is `{"engine", "board", "rules", "nets": [entry, ...]}` and every entry is exactly one+`kicad_route_net` call: `{"net", "width", "viaSize", "viaDrill", "paths": [[...], ...]}`.+A waypoint is `"REF.PAD"` (the bridge resolves it to the pad centre), `[x, y]`, or+`{"x": .., "y": .., "layer": "B.Cu"}`; a layer marker means a through via at that point and every+following segment on the new layer, which is the grammar in `rust/crates/kicad-core/src/pcb.rs`+`plan` and `resolve_point`. A path that starts on B.Cu at a through pad uses+`{"pad": "MC1.1", "layer": "B.Cu"}`. A plane stub is `["C7.2", ..., {"x", "y", "layer": "B.Cu"}]`:+the stub on F.Cu, then the via. A net appears in several entries when it uses several widths+(the 0.2 mm pin stubs are their own entry), so `route_live.py` sends the entries in order and+feeds each reply's revision to the next call.++## The offline gate++`service-kicad pcb drc` is the shared headless KiCad 10.0.2. It does not refill zones, so the+gate copy carries a raster fill for each plane: overlapping strips over the outline (0.5 mm from+the edge) minus every other-net through pad, hole and via expanded by its clearance. KiCad's own+fill on the live board replaces it. Two consequences are reported and excluded: the strips are+"isolated copper" islands to KiCad (warnings), and the gate copy connects pads solidly instead of+with thermal reliefs because a raster fill has no spokes to check.++Known and excluded on this board before any routing: 13 inherited errors (six malformed MOSFET+courtyards on Q1 to Q6, seven pad clearances inside U2's own footprint) and 149 library+warnings (`lib_footprint_issues`) plus 23 `silk_over_copper` warnings. The gate compares error+fingerprints (type, description, item positions) with the unrouted board the way the bridge's+`route_net` compares before and after, and passes only at zero NEW errors and zero unconnected.++### Gate result (the delivered plan, `fable-esc-routing-plan.json`)++Command 3 above on the delivered plan, KiCad 10.0.2 through `service-kicad`:++| Measure | Value |+|---|---|+| DRC errors | 13, all inherited (0 new) |+| DRC warnings | 172 inherited (149 library, 23 silk over copper) plus 34 raster-fill island warnings from the gate copy's own fill |+| Unconnected items | 7 (before routing: 271) |+| Segments | 1795 (0.2 mm: 57, 0.25 mm: 1453, 0.5 mm: 148, 1.0 mm: 137) |+| Vias | 255, all 0.8 mm / 0.4 mm drill, none inside a pad |+| Copper length | 1908.3 mm (F.Cu 1010.4 mm, B.Cu 897.9 mm) |+| Plan entries | 105 `kicad_route_net` calls for 55 nets, 308 paths, 2267 waypoints |+| Nets routed | 50 of 57 signal nets complete, GND (90 clusters) and +3V3 (21 clusters) complete through the planes |++The gate is therefore zero new errors but NOT zero unconnected: seven connections in six nets+could not be routed under these rules, and the router says so rather than leaving them out+quietly (`fable-esc-routing-report.json` `unrouted`, and the router's exit code is 3). The+delivered plan is the best of the runs made while tuning (the router keeps the best+intermediate state of a pass, and the multi-pass mode keeps the best pass); the file is the one+the gate numbers above were measured on.++| Net | Connection left open | Why |+|---|---|---|+| /TIM1_CH2N_INLB | U5.28 to U4.5 | LED1 sits 1.0 mm from the ends of U5 pins 26 to 28, so those three adjacent 0.5 mm pins can only leave inward under the package with vias; two adjacent pins cannot both drop a 0.8 mm via in a 0.5 mm pitch channel, and the one in the middle loses. |+| /HSE_IN | U5.5 to Y1.1 and C35.1 | U5 pins 5 to 12 (crystal, reset, the BEMF comparator inputs) all leave the left column into the same 3 mm strip between U5 and the R26 to R34 network; every F.Cu corridor there is taken by nets routed earlier and no via site is left within reach. |+| /PB6 | U5.43 to R17.2 | Same congestion on the top row: PB6, PB7, MCU_LED, SWCLK, SWDIO and BOOT0 escape upward into the LED2, LED3, R16 group. |+| +5V | U2.9 to the rest of +5V | U2.9 is a 0.35 mm pin of the buck module whose only escape pocket holds the GND stub of C10 and the +3V3 stub next to it. |+| /COMP2_INM_IO1_BEMF_A | R27.2 to the branch | R27's second pad is walled by the +3V3 stub and via of C29 and R27's own GND neighbour. |+| Net-(LED2-A) | R11.1 to LED2.2 | R11 sits at the far left of the board and LED2 next to U5's top row; the 17 mm run has to cross the SWDIO, SWCLK and nRST bundle and the GND vias of J1. |++In every case the router tried: 0.25 mm on F.Cu and B.Cu, a via in the pad when the pad allows it,+a soft search to name the blockers, and up to eight rip-up rounds per net (the plane stubs included+when they were the only blocker). What would fix them is placement, not routing: LED1 and the+resistor network are too close to the QFP pin rows for 0.25 mm tracks with 0.2 mm clearance and+0.8 mm vias. On the live board these seven show up as ratsnest lines after the replay, and+`kicad_routing_validate` reports them as unconnected; the AI or the user can finish them by hand+or after nudging LED1 and R26 to R34 away from U5.++Per-net widths, segments, vias and copper length are in the table at the end of this file.++Reproducibility: the router is deterministic for a given code state, but which seven connections+lose depends on the rip-up order, and the rip-up rules were still being tuned while the delivered+plan was produced (it came from the run with the fewest open connections; every later rule change+also ended at seven, in a different mix around U5). A fresh `ai_router.py` run on the planes board+takes about ten minutes and reports its own open connections on stdout and in the report JSON;+gate whatever it produces with `write_copper.py --drc` before replaying it.++## Files++- `esc-g431-fable-placed.kicad_pcb`: the input (placement round output).+- `esc-g431-fable-placed-planes.kicad_pcb`: the input plus the two planes (what the desktop opens).+- `fable-esc-routing-plan.json`: the plan, one entry per `kicad_route_net` call.+- `fable-esc-routing-report.json`: per-net clusters, routes, widths, rip-ups, failures.+- `esc-g431-fable-routed-offline.kicad_pcb`: the plan applied offline with raster-filled planes (the gate copy).+- `offline-drc-report.json`: the gate's DRC summary.+- `plan-preview.png`: the plan drawn over the pads (F.Cu red, B.Cu blue, vias black).++## Per-net result (delivered plan)++Widths are the track widths the net ended up with (the 0.2 mm entries are the fine-pitch pin stubs). Clusters are pad groups; a failed count is a connection left open.++| Net | widths (mm) | segments | vias | copper mm | clusters | open |+|---|---|---|---|---|---|---|+| +VBAT | 1/0.5/0.25/0.2 | 129 | 16 | 224.0 | 28 | 0 |+| /COMP1_INM_IO2_BEMF_C | 0.25/0.2 | 100 | 14 | 100.1 | 6 | 0 |+| /COMP2_INM_IO1_BEMF_A | 0.25/0.2 | 44 | 5 | 93.2 | 6 | 1 |+| /COMP1_INM_IO1_BEMF_B | 0.25/0.2 | 86 | 14 | 93.0 | 5 | 0 |+| GND_OUT | 0.25 | 22 | 5 | 92.1 | 3 | 0 |+| /SWCLK | 0.25/0.2 | 92 | 8 | 91.0 | 4 | 0 |+| GND | 0.25/0.2 | 110 | 73 | 85.8 | 90 | 0 |+| /PB12 | 0.25/0.2 | 93 | 4 | 78.2 | 4 | 0 |+| /DRV_SHA | 1/0.5/0.25/0.2 | 48 | 9 | 75.4 | 8 | 0 |+| /DRV_SHC | 1/0.5/0.25/0.2 | 60 | 5 | 68.1 | 8 | 0 |+| /DRV_SHB | 1/0.5/0.25/0.2 | 77 | 10 | 67.1 | 8 | 0 |+| /SWDIO | 0.25/0.2 | 68 | 9 | 59.7 | 4 | 0 |+| /nRST | 0.25/0.2 | 94 | 6 | 58.3 | 6 | 0 |+| /TIM15_CH1_DSHOT | 0.25/0.2 | 60 | 5 | 56.7 | 3 | 0 |+| /NEUTRAL | 0.25/0.2 | 75 | 4 | 45.5 | 6 | 0 |+| /VBAT_SENSE | 0.25/0.2 | 40 | 4 | 41.0 | 4 | 0 |+| /IBAT_SENSE | 0.25/0.2 | 10 | 2 | 34.4 | 2 | 0 |+| +12V | 0.5/0.25/0.2 | 38 | 4 | 31.5 | 7 | 0 |+| +5V | 0.5 | 41 | 4 | 31.3 | 9 | 1 |+| /HSE_OUT | 0.25/0.2 | 48 | 3 | 31.0 | 3 | 0 |+| /GLC | 0.25 | 20 | 2 | 30.8 | 3 | 0 |+| /GHC | 0.25 | 20 | 0 | 30.7 | 3 | 0 |+| /5V_EXT | 0.25 | 6 | 1 | 27.5 | 2 | 0 |+| /TIM1_CH3N_INLA | 0.25/0.2 | 38 | 4 | 24.2 | 2 | 0 |+| /USART1_TX | 0.25 | 38 | 1 | 23.8 | 4 | 0 |+| /GHA | 0.25 | 10 | 2 | 22.9 | 3 | 0 |+| +3V3 | 0.25/0.2 | 38 | 19 | 22.8 | 21 | 0 |+| /USART1_RX | 0.25 | 10 | 1 | 21.6 | 4 | 0 |+| /TIM1_CH2_INHB | 0.25/0.2 | 21 | 2 | 19.9 | 2 | 0 |+| /GLA | 0.25 | 7 | 2 | 19.9 | 3 | 0 |+| /TIM1_CH1N_INLC | 0.25/0.2 | 13 | 2 | 19.5 | 2 | 0 |+| /PB7 | 0.25/0.2 | 26 | 2 | 19.1 | 2 | 0 |+| /VDDA | 0.25/0.2 | 32 | 0 | 16.0 | 6 | 0 |+| /TIM1_CH3_INHA | 0.25/0.2 | 14 | 2 | 15.4 | 3 | 0 |+| /5V_EN | 0.25/0.2 | 11 | 1 | 13.9 | 3 | 0 |+| /TIM1_CH1_INHC | 0.25/0.2 | 20 | 2 | 13.4 | 2 | 0 |+| /GLB | 0.25 | 5 | 0 | 12.2 | 3 | 0 |+| /MCU_LED | 0.25/0.2 | 16 | 2 | 11.3 | 2 | 0 |+| Net-(LED1-A) | 0.25 | 18 | 2 | 10.0 | 2 | 0 |+| /DRV_GHB | 0.25/0.2 | 10 | 2 | 8.5 | 2 | 0 |+| /DRV_BSTB | 0.25/0.2 | 7 | 2 | 7.7 | 2 | 0 |+| /DRV_BSTC | 0.25/0.2 | 10 | 0 | 7.4 | 2 | 0 |+| /DRV_GHA | 0.25/0.2 | 6 | 0 | 7.0 | 3 | 0 |+| /GHB | 0.25 | 5 | 0 | 6.6 | 3 | 0 |+| /BOOT0 | 0.25/0.2 | 14 | 0 | 5.8 | 3 | 0 |+| /DRV_GLB | 0.25/0.2 | 7 | 0 | 5.3 | 2 | 0 |+| /5V_VCC | 0.25/0.2 | 8 | 0 | 4.8 | 2 | 0 |+| /DRV_BSTA | 0.25/0.2 | 4 | 0 | 4.3 | 2 | 0 |+| /DRV_GLA | 0.25/0.2 | 3 | 0 | 3.5 | 2 | 0 |+| Net-(LED3-A) | 0.25 | 8 | 0 | 3.1 | 2 | 0 |+| /SW | 0.25/0.2 | 3 | 0 | 3.1 | 2 | 0 |+| /RPM | 0.25/0.2 | 3 | 0 | 2.6 | 2 | 0 |+| /DRV_GHC | 0.25/0.2 | 4 | 0 | 2.2 | 2 | 0 |+| /DRV_GLC | 0.25/0.2 | 3 | 0 | 2.1 | 2 | 0 |+| /E_STOP | 0.25 | 2 | 0 | 2.1 | 2 | 0 |+| **total** | | **1795** | **255** | **1908.3** | | **7** |
demo/routing/esc/ai_router.pyadded+1284@@ -0,0 +1,1284 @@+#!/usr/bin/env python3+"""Claude Fable 5.1's routing engine for the ESC G431 board: a grid maze router.++ python3 demo/routing/esc/ai_router.py BOARD-planes.kicad_pcb [--out plan.json] [--report report.json]+ [--nets NET,NET] [--no-planes] [--seed 0] [--verbose]++What it does+ * 0.1 mm grid over the Edge.Cuts outline, two signal layers (F.Cu, B.Cu), through vias between+ them (0.8 mm / 0.4 mm drill), KiCad's default rules for this board: 0.25 mm track, 0.2 mm+ clearance, 0.5 mm copper-to-edge, plus every per-pad or per-footprint `(clearance X)` override.+ * A* (octilinear, 8 neighbours) per connection. Costs: 10 per orthogonal cell, 14 diagonal,+ x1.25 on B.Cu (prefer F.Cu), +400 per via (heavily penalised), +4 per direction change.+ * Obstacles per layer for the net being routed: every pad and every committed segment/via of+ another net, dilated by (that item's clearance + half the track width + grid slop); the+ outline inset by the edge clearance; through pads on both layers. Own-net copper is free.+ A diagonal step is allowed only when one of its ends also clears the larger dilation that+ covers the midpoint of the step, so 45-degree segments never clip a corner.+ * Narrow pads (fine-pitch IC pins) are entered on their long axis: a 0.2 mm stub from the exact+ pad centre to an on-grid escape point beyond either pad end; the route starts there. Other+ pads are hit at their centre. Same-net pads that overlap (MOSFET source pads) form one cluster.+ * A net with N clusters is routed as a minimum spanning tree: Prim's order, each new cluster+ routed to ANY copper the net already has (pads, tracks, vias), so branches land on their own+ copper and junctions split the existing segment at an on-grid point.+ * Order: nets by MST length, shortest first; plane-net stubs last.+ * Widths: +VBAT and the phase nets (/DRV_SHA, /DRV_SHB, /DRV_SHC, which are also the MOSFET+ drain and source nets) try 1.0 mm, then 0.5, then 0.25; +5V and +12V try 0.5 then 0.25;+ everything else 0.25. A pad narrower than the width caps it (a 1.0 mm track never enters a+ 0.35 mm pin). Fallback happens per connection when the wider route finds no path.+ * GND and +3V3 are plane nets (In1.Cu and In2.Cu): no traces. Each SMD pad gets the shortest+ stub to a spot where a via fits (Dijkstra to the first via-legal cell), through pads need+ nothing. If no spot fits within 6 mm the via goes in the pad (reported).+ * Rip-up and retry: when a connection fails on every width, a second search treats other nets'+ tracks as expensive instead of solid; the nets it crosses are ripped up (most recently routed+ first), the connection is routed again, and the ripped nets are re-queued. Bounded per net+ and globally.++Output: a JSON plan, a list of kicad_route_net calls: {"net", "width", "viaSize", "viaDrill",+"paths": [[...], ...]} where a waypoint is "REF.PAD", [x, y] or {"x", "y", "layer": "B.Cu"}+(a layer marker = a via there). write_copper.py applies it offline, route_live.py replays it.+"""+import argparse+import heapq+import json+import math+import os+import sys+import time+from collections import defaultdict++import numpy as np++sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))+from escboard import Board, Grid, F_CU, B_CU, LAYER_NAMES, RES # noqa: E402++# ----------------------------------------------------------------------------- rules++RULES = {+ "track": 0.25, "clearance": 0.2, "via": 0.8, "drill": 0.4, "edge": 0.5,+ "stub": 0.2, # escape stub width for narrow pins+ "narrow": 0.5, # pads with a short side under this get an axis escape+ "escape": 0.45, # escape point this far beyond the pad end (grows if blocked)+ "corridor": 0.5, # reserved own-net corridor beyond the escape point (other nets keep out)+ "ic_zone": 2.0, # soft-cost band around a fine-pitch IC (routes should not run along a pin row)+ "channel": 2.5, # no via on the line of another reserved pin escape this far beyond the pad+ "planes": {"GND": "In1.Cu", "+3V3": "In2.Cu"},+ "wide": {"+VBAT": [1.0, 0.5, 0.25], "/DRV_SHA": [1.0, 0.5, 0.25], "/DRV_SHB": [1.0, 0.5, 0.25], "/DRV_SHC": [1.0, 0.5, 0.25]},+ "mid": {"+5V": [0.5, 0.25], "+12V": [0.5, 0.25]},+ "via_spacing": 0.9, # centre to centre, any net (hole to hole rule with margin)+ "via_search_mm": 6.0,+}+SLOP = 0.05 * math.sqrt(2) + 1e-6 # half a cell diagonal: pads and stubs are off-grid+COST_ORTH, COST_DIAG, COST_VIA, COST_TURN = 10, 14, 250, 4+LAYER_MULT = {F_CU: 1.0, B_CU: 1.1}+SOFT_EXTRA = 80+ZONE_COST = 20 # per F.Cu cell inside a fine-pitch IC's escape band+VIA_WALL = 300 # per unrouted neighbour pin channel a via would wall in+HIST_COST = 12 # per cell per time a ripped-up route was there (contested corridors get pricier)+DIRS = [(1, 0), (-1, 0), (0, 1), (0, -1), (1, 1), (1, -1), (-1, 1), (-1, -1)]+STEP = [COST_ORTH] * 4 + [COST_DIAG] * 4+INF = 1 << 30+++def log(*a):+ print(*a, flush=True)+++# ----------------------------------------------------------------------------- data++class Cluster:+ """Pads of one net in one footprint whose copper overlaps: routed once."""++ def __init__(self, idx, pads):+ self.idx = idx+ self.pads = pads+ self.primary = max(pads, key=lambda p: p.half_long * p.half_short)+ self.terminals = [] # [(layer, i, j)] cells a route may start or end at+ self.escapes = {} # (layer, i, j) -> escape point (x, y) exact grid coords (stub end)+ self.corridors = {} # (layer, i, j) -> corridor end (x, y) beyond the escape point+ self.connected = False+ self.allow = 0.25++ @property+ def xy(self):+ return self.primary.x, self.primary.y++ @property+ def key(self):+ return self.primary.key+++class Route:+ def __init__(self, cells, width, start, end):+ self.cells = cells # [(layer, i, j)]+ self.width = width+ self.start = start # ("pad", Cluster, term) | ("escape", Cluster, term)+ self.end = end # ("pad", Cluster, term) | ("escape", ...) | ("copper",) | ("via",)+ self.breaks = set() # indices into cells where a segment must end (junctions)+ self.via_end = False # a via at the last cell (plane stub, or a via in the target pad)+ self.via_end_layer = "B.Cu" # the layer the via switches to+++class NetState:+ def __init__(self, idx, name, pads):+ self.idx, self.name, self.pads = idx, name, pads+ self.clusters = []+ self.routes = []+ self.widths = [RULES["track"]]+ self.plane = RULES["planes"].get(name)+ self.mst_len = 0.0+ self.used_escapes = set() # (cluster idx, terminal)+ self.failed = [] # [(cluster key, reason)]+ self.rips = 0+ self.routed_order = None+ self.via_in_pad = []+ self.last_soft = []+++def _seg_distance(x, y, ax, ay, bx, by):+ dx, dy = bx - ax, by - ay+ L2 = dx * dx + dy * dy+ if L2 < 1e-12:+ return math.hypot(x - ax, y - ay)+ t = max(0.0, min(1.0, ((x - ax) * dx + (y - ay) * dy) / L2))+ return math.hypot(x - (ax + t * dx), y - (ay + t * dy))+++def _point_poly_distance(x, y, poly):+ """0 inside the polygon, else the distance to its boundary."""+ inside = False+ n = len(poly)+ best = float("inf")+ for k in range(n):+ ax, ay = poly[k]+ bx, by = poly[(k + 1) % n]+ if (ay > y) != (by > y):+ xint = ax + (y - ay) * (bx - ax) / (by - ay)+ if x < xint:+ inside = not inside+ d = _seg_distance(x, y, ax, ay, bx, by)+ if d < best:+ best = d+ return 0.0 if inside else best+++def _route_segments(g, cells):+ """Straight runs of a cell path as exact segments (x0, y0, x1, y1), vias skipped."""+ out = []+ k = 0+ n = len(cells)+ while k < n - 1:+ L, i0, j0 = cells[k]+ m = k + 1+ if cells[m][0] != L:+ k = m+ continue+ di, dj = cells[m][1] - i0, cells[m][2] - j0+ while m + 1 < n and cells[m + 1][0] == L and (cells[m + 1][1] - cells[m][1], cells[m + 1][2] - cells[m][2]) == (di, dj):+ m += 1+ a = g.to_xy(i0, j0)+ b = g.to_xy(cells[m][1], cells[m][2])+ out.append((a[0], a[1], b[0], b[1]))+ k = m+ return out+++# ----------------------------------------------------------------------------- router++class Router:+ def __init__(self, board, verbose=False):+ self.board = board+ self.verbose = verbose+ self.grid = Grid(board.bbox)+ g = self.grid+ self.H, self.W = g.H, g.W+ self.nets = {}+ self.net_ids = {}+ for k, (name, pads) in enumerate(sorted(board.nets.items())):+ self.net_ids[name] = k+ self.nets[name] = NetState(k, name, pads)+ # raw copper by layer: pads (+ reserved stubs) and routes, net id or -1+ self.pad_raw = {L: np.full((g.H, g.W), -1, dtype=np.int16) for L in (F_CU, B_CU)}+ self.pad_owner = {L: np.full((g.H, g.W), -1, dtype=np.int16) for L in (F_CU, B_CU)}+ self.route_raw = {L: np.full((g.H, g.W), -1, dtype=np.int16) for L in (F_CU, B_CU)}+ self.big_clr = {L: np.zeros((g.H, g.W), dtype=bool) for L in (F_CU, B_CU)} # pads with a 0.6 override+ self.big_clr_val = RULES["clearance"]+ self.smd_pad_cells = {} # net id -> bool mask (F.Cu smd pads) for via placement+ self.thru_cells = np.zeros((g.H, g.W), dtype=bool) # every through pad: never a via site+ self.history = {L: np.zeros((g.H, g.W), dtype=np.int16) for L in (F_CU, B_CU)} # contested cells (rip-ups)+ self.chan_count = np.zeros((g.H, g.W), dtype=np.int16) # how many unrouted pin channels a via here would wall+ self.chan_lines = {} # (net idx, cluster idx, term) -> (jj, ii) of the walled region+ self.vias = [] # [(i, j, net id)]+ self.fp_index = {ref: n for n, ref in enumerate(sorted(board.footprints))}+ self.pad_cells = {} # pad key -> (jj, ii)+ t0 = time.time()+ self._stamp_pads()+ self.inside, self.edge_dist = g.outline_distance(board.outline)+ self.inside_w = {}+ self.order = []+ self.rip_total = 0+ self.stats = defaultdict(int)+ self._build_clusters()+ self._build_ic_zones()+ log("router: %d x %d cells, %d pads stamped, %d nets to route, init %.1fs" % (+ g.W, g.H, len(board.pads), len([n for n in self.nets.values() if len(n.clusters) >= 2 or n.plane]), time.time() - t0))++ # -- stamping ------------------------------------------------------------------+ def _stamp_pads(self):+ g = self.grid+ for p in self.board.pads:+ nid = self.net_ids.get(p.net, -1)+ m = np.zeros((g.H, g.W), dtype=bool)+ for poly in p.polys:+ g.poly_mask(poly, m)+ if p.drill:+ jj, ii = g.disk_cells((p.x, p.y), p.drill / 2.0)+ m[jj, ii] = True+ jj, ii = np.nonzero(m)+ self.pad_cells[p.key] = (jj, ii)+ layers = [F_CU, B_CU] if p.thru else [F_CU if "F.Cu" in p.layers else B_CU]+ for L in layers:+ self.pad_raw[L][jj, ii] = nid+ self.pad_owner[L][jj, ii] = self.fp_index[p.ref]+ if p.clearance > RULES["clearance"]:+ self.big_clr[L][jj, ii] = True+ self.big_clr_val = max(self.big_clr_val, p.clearance)+ if not p.thru and nid >= 0:+ sm = self.smd_pad_cells.setdefault(nid, np.zeros((g.H, g.W), dtype=bool))+ sm[jj, ii] = True+ if p.thru:+ self.thru_cells[jj, ii] = True++ def inside_for(self, w):+ key = round(w, 3)+ if key not in self.inside_w:+ self.inside_w[key] = self.inside & (self.edge_dist >= RULES["edge"] + w / 2.0 + SLOP)+ return self.inside_w[key]++ def stamp_route(self, net, route, sign=1):+ """Add (sign=1) or remove (sign=-1) a route's copper from route_raw."""+ g = self.grid+ nid = net.idx if sign > 0 else -1+ cells = route.cells+ k = 0+ while k < len(cells) - 1:+ # straight run from k+ L, i0, j0 = cells[k]+ m = k + 1+ di, dj = cells[m][1] - i0, cells[m][2] - j0+ while m + 1 < len(cells) and cells[m + 1][0] == L and cells[m][0] == L and (cells[m + 1][1] - cells[m][1], cells[m + 1][2] - cells[m][2]) == (di, dj):+ m += 1+ if cells[m][0] == L:+ a = g.to_xy(i0, j0)+ b = g.to_xy(cells[m][1], cells[m][2])+ jj, ii = g.segment_cells(a, b, route.width / 2.0, 0.0 + 1e-6)+ self.route_raw[L][jj, ii] = nid+ k = m+ # vias: layer changes+ for k in range(1, len(cells)):+ if cells[k][0] != cells[k - 1][0] and cells[k][1:] == cells[k - 1][1:]:+ self._stamp_via(cells[k][1], cells[k][2], net.idx, sign)+ if route.via_end:+ L, i, j = cells[-1]+ self._stamp_via(i, j, net.idx, sign)+ if len(cells) == 1 and route.via_end:+ pass++ def _stamp_via(self, i, j, nid, sign):+ g = self.grid+ xy = g.to_xy(i, j)+ jj, ii = g.disk_cells(xy, RULES["via"] / 2.0, 0.0 + 1e-6)+ for L in (F_CU, B_CU):+ self.route_raw[L][jj, ii] = nid if sign > 0 else -1+ if sign > 0:+ self.vias.append((i, j, nid))+ else:+ self.vias = [v for v in self.vias if not (v[0] == i and v[1] == j and v[2] == nid)]++ def stamp_stub(self, net, cluster, term, sign=1):+ """Reserve or release the escape stub copper (exact pad centre to the on-grid escape point)."""+ g = self.grid+ L, i, j = term+ p = cluster.primary+ a = p.polys_centre+ b = g.to_xy(i, j)+ jj, ii = g.segment_cells(a, b, RULES["stub"] / 2.0, 1e-6)+ self.pad_raw[L][jj, ii] = net.idx if sign > 0 else -1+ if sign > 0:+ self.pad_owner[L][jj, ii] = self.fp_index[p.ref]+ kend = cluster.corridors.get(term)+ if kend is not None:+ jj, ii = g.segment_cells(b, kend, RULES["track"] / 2.0, 1e-6)+ self.pad_raw[L][jj, ii] = net.idx if sign > 0 else -1+ if sign > 0:+ self.pad_owner[L][jj, ii] = self.fp_index[p.ref]+ self._stamp_channel(net, cluster, term, sign)+ if sign < 0:+ # restore the pad itself+ pj, pi = self.pad_cells[p.key]+ self.pad_raw[L][pj, pi] = net.idx+ self.pad_owner[L][pj, pi] = self.fp_index[p.ref]++ def _stamp_channel(self, net, cluster, term, sign):+ """Count (or uncount) the region where a via would wall in this unrouted pin's straight path."""+ g = self.grid+ key = (net.idx, cluster.idx, term)+ if sign > 0 and key in self.chan_lines:+ return+ if sign < 0:+ hit = self.chan_lines.pop(key, None)+ if hit is not None:+ self.chan_count[hit[0], hit[1]] -= 1+ return+ L, i, j = term+ p = cluster.primary+ b = g.to_xy(i, j)+ ax, ay = p.long_axis+ cx, cy = p.polys_centre+ sgn = 1.0 if (b[0] - cx) * ax + (b[1] - cy) * ay > 0 else -1.0+ cend = (b[0] + sgn * round(ax, 6) * RULES["channel"], b[1] + sgn * round(ay, 6) * RULES["channel"])+ r = RULES["via"] / 2.0 + RULES["clearance"] + RULES["track"] / 2.0 + SLOP+ jj, ii = g.segment_cells(b, cend, r, 0.0)+ ok = self.inside_for(RULES["via"])[jj, ii]+ jj, ii = jj[ok], ii[ok]+ self.chan_count[jj, ii] += 1+ self.chan_lines[key] = (jj, ii)++ # -- clusters and terminals ----------------------------------------------------+ def _build_clusters(self):+ g = self.grid+ for net in self.nets.values():+ if len(net.pads) < 2 and not net.plane:+ continue+ by_fp = defaultdict(list)+ for p in net.pads:+ by_fp[p.ref].append(p)+ clusters = []+ for ref, pads in by_fp.items():+ groups = []+ for p in pads:+ mask = set(zip(*[a.tolist() for a in self.pad_cells[p.key]]))+ merged = None+ for gidx, (gpads, gcells) in enumerate(groups):+ if mask & gcells:+ if merged is None:+ gpads.append(p)+ gcells |= mask+ merged = gidx+ else:+ groups[merged][0].extend(gpads)+ groups[merged][1] |= gcells+ groups[gidx] = None+ groups = [x for x in groups if x is not None]+ if merged is None:+ groups.append(([p], set(mask)))+ for gpads, _ in groups:+ clusters.append(Cluster(len(clusters), gpads))+ net.clusters = clusters+ if net.name in RULES["wide"]:+ net.widths = list(RULES["wide"][net.name])+ elif net.name in RULES["mid"]:+ net.widths = list(RULES["mid"][net.name])+ for c in clusters:+ self._terminals_for(net, c)+ # MOSFET drain/source nets get the wide treatment too+ for p in self.board.pads:+ if p.ref.startswith("Q") and p.name in ("1", "2", "3", "5") and p.net in self.nets:+ n = self.nets[p.net]+ if not n.plane and n.name not in RULES["wide"]:+ n.widths = [1.0, 0.5, 0.25]++ def _build_ic_zones(self):+ """Fine-pitch ICs (two or more escaped pins): the body interior on F.Cu is a keepout for nets+ without a pin on that IC; a band around the IC carries a soft cost for every net."""+ g = self.grid+ self.body_owner = np.full((g.H, g.W), -1, dtype=np.int16)+ self.ic_zone = np.zeros((g.H, g.W), dtype=bool)+ self.ic_nets = {} # fp index -> set of net ids with a pin on it+ by_fp = defaultdict(list)+ for net in self.nets.values():+ for c in net.clusters:+ if c.escapes:+ by_fp[c.primary.ref].append(c)+ for ref, clusters in by_fp.items():+ if len(clusters) < 2:+ continue+ fp = self.board.footprints[ref]+ inner = []+ for c in clusters:+ p = c.primary+ ax, ay = p.long_axis+ cx, cy = p.polys_centre+ sgn = 1.0 if (fp["x"] - cx) * ax + (fp["y"] - cy) * ay > 0 else -1.0+ inner.append((cx + sgn * ax * p.half_long, cy + sgn * ay * p.half_long))+ pads = [q for q in self.board.pads if q.ref == ref]+ xs = [pt[0] for pt in inner]+ ys = [pt[1] for pt in inner]+ if max(xs) - min(xs) < 1.0 or max(ys) - min(ys) < 1.0:+ continue+ i0, j0 = g.to_cell(min(xs), min(ys))+ i1, j1 = g.to_cell(max(xs), max(ys))+ idx = self.fp_index[ref]+ self.body_owner[j0:j1 + 1, i0:i1 + 1] = idx+ self.ic_nets[idx] = {self.net_ids[q.net] for q in pads if q.net in self.net_ids}+ m = int(round(RULES["ic_zone"] / RES))+ px = [q.x for q in pads]+ py = [q.y for q in pads]+ a0, b0 = g.to_cell(min(px), min(py))+ a1, b1 = g.to_cell(max(px), max(py))+ self.ic_zone[max(0, b0 - m):b1 + m + 1, max(0, a0 - m):a1 + m + 1] = True+ log(" ic %s: body keepout %.1f x %.1f mm for %d foreign nets, escape band +%d/cell" % (+ ref, (i1 - i0) * RES, (j1 - j0) * RES, len(self.nets) - len(self.ic_nets[idx]), ZONE_COST))++ def _terminals_for(self, net, c):+ g = self.grid+ p = c.primary+ md = p.min_dim+ c.allow = 1.0 if md >= 1.0 else (0.5 if md >= 0.5 else 0.25)+ if p.thru:+ i, j = g.to_cell(p.x, p.y)+ c.terminals = [(F_CU, i, j), (B_CU, i, j)]+ return+ L = F_CU if "F.Cu" in p.layers else B_CU+ narrow = md < RULES["narrow"] and p.half_long > p.half_short * 1.4+ if not narrow:+ i, j = g.to_cell(p.x, p.y)+ c.terminals = [(L, i, j)]+ return+ c.allow = 0.25+ cx, cy = p.polys_centre+ ax, ay = p.long_axis+ found = []+ for sgn in (1.0, -1.0):+ hit = None+ # a full corridor first; a shorter one when a neighbouring part sits close to the pin end+ for corridor in (RULES["corridor"], RULES["corridor"] / 2.0, 0.0):+ d = RULES["escape"]+ while d <= 1.6 and hit is None:+ ex, ey = cx + sgn * ax * (p.half_long + d), cy + sgn * ay * (p.half_long + d)+ i, j = g.to_cell(ex, ey)+ # the corridor leaves the ON-GRID escape cell along the pin axis, so an axis-aligned+ # pin row gets straight corridors that rasterise three cells wide, never four+ bx, by = g.to_xy(i, j)+ kx, ky = bx + sgn * round(ax, 6) * corridor, by + sgn * round(ay, 6) * corridor+ if g.in_bounds(i, j) and self._escape_ok(net, p, L, i, j, (kx, ky)):+ hit = ((L, i, j), sgn, (kx, ky) if corridor > 0 else None)+ d += 0.1+ if hit is not None:+ break+ if hit is not None:+ found.append(hit)+ c.terminals = [t for t, _, _ in found]+ for t, sgn, kend in found:+ c.escapes[t] = g.to_xy(t[1], t[2])+ if kend is not None:+ c.corridors[t] = kend+ self.stamp_stub(net, c, t, 1)+ if not found:+ i, j = g.to_cell(p.x, p.y)+ c.terminals = [(L, i, j)]++ def _escape_ok(self, net, p, L, i, j, corridor_end):+ """Exact geometry: the escape cell, the stub and the reserved corridor beyond it clear every+ pad of another footprint (same-footprint neighbours are the regular pin field, fine by+ construction), and the corridor end lies inside the outline."""+ g = self.grid+ if not self.inside_for(RULES["track"])[j, i]:+ return False+ b = g.to_xy(i, j)+ a = p.polys_centre+ checks = [(a, b, RULES["stub"] / 2.0)]+ if math.dist(b, corridor_end) > 1e-6:+ ki, kj = g.to_cell(*corridor_end)+ if not g.in_bounds(ki, kj) or not self.inside_for(RULES["track"])[kj, ki]:+ return False+ checks.append((b, corridor_end, RULES["track"] / 2.0))+ samples = []+ for (s0, s1, hw) in checks:+ n = max(1, int(math.ceil(math.dist(s0, s1) / 0.05)))+ for k in range(n + 1):+ t = k / n+ samples.append((s0[0] + (s1[0] - s0[0]) * t, s0[1] + (s1[1] - s0[1]) * t, hw))+ # the route leaving the escape cell: a track of the net's width in any direction+ samples.append((b[0], b[1], RULES["track"] / 2.0))+ reach = 2.5+ for q in self.board.pads:+ if q.ref == p.ref or q.net == net.name:+ continue+ if abs(q.x - b[0]) > reach + q.half_long or abs(q.y - b[1]) > reach + q.half_long:+ continue+ if L == F_CU and "F.Cu" not in q.layers:+ continue+ clr = max(RULES["clearance"], q.clearance)+ for poly in q.polys:+ for (x, y, hw) in samples:+ if _point_poly_distance(x, y, poly) < hw + clr:+ return False+ return True++ # -- obstacle maps ---------------------------------------------------------------+ def obstacle_maps(self, net, width, win, soft=False):+ """(obs_o, obs_d, soft_mask) per layer for the window, plus via_ok. Windows are (i0, j0, i1, j1) inclusive."""+ g = self.grid+ i0, j0, i1, j1 = win+ r_o = (RULES["clearance"] + width / 2.0 + SLOP) / RES+ r_d = r_o + 0.0707 / RES+ r_big = (self.big_clr_val + width / 2.0 + SLOP) / RES+ pad_R = int(math.ceil(max(r_d, r_big))) + 1+ # work on a padded window so the dilation sees copper just outside it+ I0, J0 = max(0, i0 - pad_R), max(0, j0 - pad_R)+ I1, J1 = min(self.W - 1, i1 + pad_R), min(self.H - 1, j1 + pad_R)+ obs_o, obs_d, softm = {}, {}, {}+ via_block = np.zeros((J1 - J0 + 1, I1 - I0 + 1), dtype=bool)+ for L in (F_CU, B_CU):+ praw = self.pad_raw[L][J0:J1 + 1, I0:I1 + 1]+ rraw = self.route_raw[L][J0:J1 + 1, I0:I1 + 1]+ other_pads = (praw != -1) & (praw != net.idx)+ other_routes = (rraw != -1) & (rraw != net.idx)+ big = self.big_clr[L][J0:J1 + 1, I0:I1 + 1] & other_pads+ hard = other_pads if soft else (other_pads | other_routes)+ o = g.dilate(hard, r_o) | g.dilate(big, r_big) | ~self.inside_for(width)[J0:J1 + 1, I0:I1 + 1]+ d = g.dilate(hard, r_d) | g.dilate(big, r_big + 0.0707 / RES)+ if L == F_CU and self.ic_nets:+ foreign = [idx for idx, nets in self.ic_nets.items() if net.idx not in nets]+ if foreign:+ body = np.isin(self.body_owner[J0:J1 + 1, I0:I1 + 1], foreign)+ o |= body+ d |= body+ s = g.dilate(other_routes, r_d) if soft else None+ sl = (slice(j0 - J0, j1 - J0 + 1), slice(i0 - I0, i1 - I0 + 1))+ obs_o[L] = o[sl]+ obs_d[L] = d[sl]+ softm[L] = s[sl] if s is not None else None+ via_block |= g.dilate(other_pads | other_routes, (RULES["clearance"] + RULES["via"] / 2.0 + SLOP) / RES)+ via_block |= g.dilate(big, (self.big_clr_val + RULES["via"] / 2.0 + SLOP) / RES)+ own_smd = self.smd_pad_cells.get(net.idx)+ if own_smd is not None:+ via_block |= g.dilate(own_smd[J0:J1 + 1, I0:I1 + 1], (RULES["via"] / 2.0 + SLOP) / RES)+ via_block |= g.dilate(self.thru_cells[J0:J1 + 1, I0:I1 + 1], (RULES["via"] / 2.0 + SLOP) / RES)+ # other vias (any net): centre spacing+ vm = np.zeros_like(via_block)+ for (vi, vj, _) in self.vias:+ if I0 <= vi <= I1 and J0 <= vj <= J1:+ vm[vj - J0, vi - I0] = True+ if vm.any():+ via_block |= g.dilate(vm, RULES["via_spacing"] / RES - 1e-6)+ via_ok = ~via_block & self.inside_for(RULES["via"])[J0:J1 + 1, I0:I1 + 1]+ sl = (slice(j0 - J0, j1 - J0 + 1), slice(i0 - I0, i1 - I0 + 1))+ return obs_o, obs_d, softm, via_ok[sl]++ # -- A* --------------------------------------------------------------------------+ def search(self, net, width, sources, targets, heur_pts, win, allow_via=True, soft=False, via_target=False, max_nodes=None, vip=()):+ """A* from sources to targets. sources: [(L,i,j,cost0)]; targets: {(L,i,j)} or None when via_target.+ Returns (cells, blockers) with cells [(L,i,j)] or None."""+ i0, j0, i1, j1 = win+ Ww, Hw = i1 - i0 + 1, j1 - j0 + 1+ NL = Ww * Hw+ obs_o, obs_d, softm, via_ok = self.obstacle_maps(net, width, win, soft)+ oo = {L: obs_o[L].ravel().tobytes() for L in (F_CU, B_CU)}+ od = {L: obs_d[L].ravel().tobytes() for L in (F_CU, B_CU)}+ sm = {L: (softm[L].ravel().tobytes() if softm[L] is not None else None) for L in (F_CU, B_CU)}+ vo = via_ok.ravel().tobytes()+ zone = self.ic_zone[j0:j1 + 1, i0:i1 + 1].ravel().tobytes()+ wallm = self.chan_count[j0:j1 + 1, i0:i1 + 1].astype(np.int32)+ for (nid, cidx, term), (cj, ci) in self.chan_lines.items():+ if nid == net.idx:+ sel = (cj >= j0) & (cj <= j1) & (ci >= i0) & (ci <= i1)+ wallm[cj[sel] - j0, ci[sel] - i0] -= 1+ wall = np.clip(wallm, 0, 60).astype(np.uint8).ravel().tobytes()+ hist = {L: np.clip(self.history[L][j0:j1 + 1, i0:i1 + 1], 0, 40).astype(np.uint8).ravel().tobytes() for L in (F_CU, B_CU)}+ tgt = bytearray(2 * NL)+ vipset = set()+ for (L, i, j) in vip:+ if i0 <= i <= i1 and j0 <= j <= j1:+ vipset.add((j - j0) * Ww + (i - i0))+ if via_target:+ for L in (F_CU,):+ base = L * NL+ for m in range(NL):+ if vo[m] and not oo[L][m]:+ tgt[base + m] = 1+ if targets:+ for (L, i, j) in targets:+ if i0 <= i <= i1 and j0 <= j <= j1:+ tgt[L * NL + (j - j0) * Ww + (i - i0)] = 1+ if not any(tgt):+ return None, set()+ gcost = [INF] * (2 * NL)+ parent = [-1] * (2 * NL)+ pdir = [-1] * (2 * NL)+ closed = bytearray(2 * NL)+ heap = []+ hp = [(i - i0, j - j0) for (i, j) in heur_pts]++ def h(il, jl):+ best = INF+ for (hi, hj) in hp:+ dx, dy = abs(hi - il), abs(hj - jl)+ v = 10 * max(dx, dy) + 4 * min(dx, dy)+ if v < best:+ best = v+ return best if hp else 0++ for (L, i, j, c0) in sources:+ if not (i0 <= i <= i1 and j0 <= j <= j1):+ continue+ m = (j - j0) * Ww + (i - i0)+ n = L * NL + m+ if oo[L][m]:+ continue+ if c0 < gcost[n]:+ gcost[n] = c0+ heapq.heappush(heap, (c0 + h(i - i0, j - j0), n))+ expanded = 0+ found = -1+ while heap:+ f, n = heapq.heappop(heap)+ if closed[n]:+ continue+ closed[n] = 1+ if tgt[n]:+ found = n+ break+ expanded += 1+ if max_nodes and expanded > max_nodes:+ break+ L = n // NL+ m = n - L * NL+ jl = m // Ww+ il = m - jl * Ww+ gn = gcost[n]+ pd = pdir[n]+ ooL, odL, smL, hiL = oo[L], od[L], sm[L], hist[L]+ mult = LAYER_MULT[L]+ for d in range(8):+ ni = il + DIRS[d][0]+ nj = jl + DIRS[d][1]+ if ni < 0 or nj < 0 or ni >= Ww or nj >= Hw:+ continue+ nm = nj * Ww + ni+ if ooL[nm]:+ continue+ if d >= 4 and odL[nm] and odL[m]:+ continue+ nn = L * NL + nm+ if closed[nn]:+ continue+ c = STEP[d] * mult+ if pd != -1 and pd != d:+ c += COST_TURN+ if smL is not None and smL[nm]:+ c += SOFT_EXTRA+ if L == F_CU and zone[nm]:+ c += ZONE_COST+ if hiL[nm]:+ c += HIST_COST * hiL[nm]+ ng = gn + c+ if ng < gcost[nn]:+ gcost[nn] = ng+ parent[nn] = n+ pdir[nn] = d+ heapq.heappush(heap, (ng + h(ni, nj), nn))+ if allow_via and (vo[m] or m in vipset):+ L2 = 1 - L+ if not oo[L2][m]:+ nn = L2 * NL + m+ if not closed[nn]:+ ng = gn + COST_VIA + VIA_WALL * wall[m]+ if ng < gcost[nn]:+ gcost[nn] = ng+ parent[nn] = n+ pdir[nn] = -1+ heapq.heappush(heap, (ng + h(il, jl), nn))+ self.stats["expanded"] += expanded+ if found < 0:+ return None, set()+ cells = []+ n = found+ while n != -1:+ L = n // NL+ m = n - L * NL+ jl = m // Ww+ il = m - jl * Ww+ cells.append((L, il + i0, jl + j0))+ n = parent[n]+ cells.reverse()+ blockers = set()+ if soft:+ r = int(math.ceil((RULES["clearance"] + width / 2.0 + SLOP) / RES)) + 1+ for (L, i, j) in cells:+ if sm[L] is not None and sm[L][(j - j0) * Ww + (i - i0)]:+ sub = self.route_raw[L][max(0, j - r):j + r + 1, max(0, i - r):i + r + 1]+ for v in np.unique(sub):+ if v != -1 and v != net.idx:+ blockers.add(int(v))+ return cells, blockers++ # -- per net -----------------------------------------------------------------------+ def window_for(self, pts, margin_mm):+ m = int(round(margin_mm / RES))+ xs = [p[0] for p in pts]+ ys = [p[1] for p in pts]+ return (max(0, min(xs) - m), max(0, min(ys) - m), min(self.W - 1, max(xs) + m), min(self.H - 1, max(ys) + m))++ def copper_targets(self, net):+ """Every cell of the net's connected copper: connected clusters' terminals and route centrelines."""+ t = set()+ for c in net.clusters:+ if c.connected:+ t.update(c.terminals)+ for r in net.routes:+ t.update(r.cells)+ return t++ def vip_cells(self, net, clusters):+ """Direct SMD pad terminals where a via may sit in the pad (clear of every other net)."""+ out = []+ for c in clusters:+ if c.primary.thru or c.escapes:+ continue+ for t in c.terminals:+ if t[0] == F_CU and self._via_clear_exact(net, *self.grid.to_xy(t[1], t[2])):+ out.append(t)+ return out++ def connect(self, net, cluster, anchor_pts, soft=False, vip=False):+ """Route `cluster` to the net's existing copper. Returns (Route|None, blockers).++ vip=True is the last resort before rip-up: a via may sit in the pad of the cluster being+ routed or in the pad it lands on when every exit on F.Cu is walled in."""+ targets = self.copper_targets(net)+ sources = []+ for t in cluster.terminals:+ sources.append((t[0], t[1], t[2], 0))+ widths = [w for w in net.widths if w <= cluster.allow] or [min(net.widths)]+ src_pts = [(t[1], t[2]) for t in cluster.terminals]+ allpts = src_pts + list(anchor_pts)+ vip_src, vip_tgt = [], []+ if vip:+ vip_src = self.vip_cells(net, [cluster])+ vip_tgt = self.vip_cells(net, [c for c in net.clusters if c.connected])+ targets = set(targets) | {(B_CU, t[1], t[2]) for t in vip_tgt}+ if soft:+ stages = [(12.0, 200000)]+ elif vip:+ stages = [(12.0, 200000)]+ else:+ stages = [(5.0, None), (12.0, None), (80.0, 250000)]+ for width in widths:+ for margin, cap in stages:+ win = self.window_for(allpts, margin)+ cells, blockers = self.search(net, width, sources, targets, anchor_pts, win, soft=soft, max_nodes=cap, vip=vip_src)+ if cells:+ start_term = cells[0]+ end_cell = cells[-1]+ start = ("escape", cluster, start_term) if start_term in cluster.escapes else ("pad", cluster, start_term)+ end = ("copper",)+ for c in net.clusters:+ if c.connected and (end_cell in c.terminals or (end_cell[0] == B_CU and (F_CU, end_cell[1], end_cell[2]) in c.terminals and end_cell in targets)):+ end = ("escape", c, end_cell) if end_cell in c.escapes else ("pad", c, end_cell)+ route = Route(cells, width, start, end)+ if end[0] == "pad" and end_cell[0] == B_CU and not end[1].primary.thru:+ route.via_end = True+ route.via_end_layer = "F.Cu"+ self.stats["viaInPad"] += 1+ net.via_in_pad.append(end[1].key)+ if len(cells) > 1 and cells[0][1:] == cells[1][1:] and cells[0][0] != cells[1][0] and not cluster.primary.thru:+ self.stats["viaInPad"] += 1+ net.via_in_pad.append(cluster.key)+ return route, blockers+ return None, set()++ def route_net(self, net):+ """Prim's order over clusters; each cluster to the existing copper. Returns list of blocker net ids on failure."""+ clusters = [c for c in net.clusters]+ for c in clusters:+ c.connected = False+ net.routes = []+ net.failed = []+ net.last_soft = []+ # start from the biggest pad (the trunk grows from the power pads)+ start = max(clusters, key=lambda c: (c.allow, c.primary.half_long * c.primary.half_short))+ start.connected = True+ connected = [start]+ remaining = [c for c in clusters if c is not start]+ blockers_all = set()+ while remaining:+ best = None+ for c in remaining:+ for k in connected:+ d = math.dist(c.xy, k.xy)+ if best is None or d < best[0]:+ best = (d, c, k)+ d, c, k = best+ remaining.remove(c)+ anchor = [(t[1], t[2]) for t in k.terminals]+ route, _ = self.connect(net, c, anchor)+ if route is None:+ route, _ = self.connect(net, c, anchor, vip=True)+ if route is None:+ soft_route, blockers = self.connect(net, c, anchor, soft=True)+ blockers_all |= blockers+ if soft_route is not None:+ net.last_soft.extend(soft_route.cells)+ net.failed.append((c.key, "no path" if not blockers else "blocked by %s" % sorted(self.name_of(b) for b in blockers)))+ c.connected = False+ continue+ self.commit(net, route)+ c.connected = True+ connected.append(c)+ return blockers_all++ def name_of(self, nid):+ for n in self.nets.values():+ if n.idx == nid:+ return n.name+ return "?"++ def commit(self, net, route):+ # junction: if the route ends inside another route of this net, split it there+ end = route.cells[-1]+ for r in net.routes:+ if end in r.cells:+ r.breaks.add(r.cells.index(end))+ for term in (route.start, route.end):+ if term[0] == "escape":+ net.used_escapes.add((term[1].idx, term[2]))+ net.routes.append(route)+ self.stamp_route(net, route, 1)+ # a routed cluster no longer needs its other escape: release that reservation+ for term in (route.start, route.end):+ if term[0] in ("escape", "pad"):+ self.release_escapes(net, term[1])+ if term[0] == "escape":+ self._stamp_channel(net, term[1], term[2], -1)++ def release_escapes(self, net, cluster):+ for t in list(cluster.escapes):+ if (cluster.idx, t) not in net.used_escapes and (cluster.idx, t) not in cluster.__dict__.setdefault("released", set()):+ self.stamp_stub(net, cluster, t, -1)+ cluster.released.add((cluster.idx, t))++ def reserve_escapes(self, net, cluster):+ for t in list(cluster.escapes):+ if (cluster.idx, t) in cluster.__dict__.get("released", set()):+ self.stamp_stub(net, cluster, t, 1)+ cluster.released.discard((cluster.idx, t))+ else:+ self._stamp_channel(net, cluster, t, 1)++ def rip_cluster(self, net, cluster):+ """Rip the stub of one plane-net cluster (its route to the plane) so a signal can pass; the+ cluster is re-queued as a plane retry."""+ keep = []+ for r in net.routes:+ if r.start[1] is cluster:+ self.stamp_route(net, r, -1)+ for (L, i, j) in r.cells:+ self.history[L][max(0, j - 2):j + 3, max(0, i - 2):i + 3] += 1+ else:+ keep.append(r)+ net.routes = keep+ net.used_escapes = {(ci, t) for (ci, t) in net.used_escapes if ci != cluster.idx}+ cluster.connected = False+ self.reserve_escapes(net, cluster)+ if cluster.key not in {k for k, _ in net.failed}:+ net.failed.append((cluster.key, "ripped for a signal"))+ self.stats["rips"] += 1+ self.rip_total += 1++ def rip(self, net):+ g = self.grid+ for r in net.routes:+ self.stamp_route(net, r, -1)+ # remember where the contested copper was: a little dearer for every later search+ for (L, i, j) in r.cells:+ self.history[L][max(0, j - 2):j + 3, max(0, i - 2):i + 3] += 1+ net.routes = []+ net.used_escapes = set()+ for c in net.clusters:+ c.connected = False+ self.reserve_escapes(net, c)+ net.rips += 1+ self.rip_total += 1+ self.stats["rips"] += 1++ # -- planes --------------------------------------------------------------------------+ def route_plane_net(self, net, retry=False):+ g = self.grid+ if retry:+ failed = {k for k, _ in net.failed}+ net.failed = []+ for c in net.clusters:+ if c.primary.thru:+ c.connected = True+ continue+ if retry and (c.connected or c.key not in failed):+ continue+ sources = [(t[0], t[1], t[2], 0) for t in c.terminals]+ win = self.window_for([(t[1], t[2]) for t in c.terminals], RULES["via_search_mm"])+ # a via site, or the net's own copper already on its way to the plane (a neighbour's stub)+ own = {cell for cell in self.copper_targets(net) if cell[0] == F_CU}+ cells, _ = self.search(net, RULES["track"], sources, own, [], win, allow_via=False, via_target=True)+ if cells is None:+ # via in pad: the pad centre if a via there clears every other net+ i, j = g.to_cell(*c.xy)+ ok = self._via_clear_exact(net, c.primary.x, c.primary.y)+ if ok:+ r = Route([(F_CU, i, j)], RULES["track"], ("pad", c, (F_CU, i, j)), ("via",))+ r.via_end = True+ self.commit(net, r)+ c.connected = True+ net.via_in_pad.append(c.key)+ self.stats["viaInPad"] += 1+ else:+ net.failed.append((c.key, "no via site within %.0f mm" % RULES["via_search_mm"]))+ continue+ start_term = cells[0]+ start = ("escape", c, start_term) if start_term in c.escapes else ("pad", c, start_term)+ joined = cells[-1] in own+ r = Route(cells, RULES["track"], start, ("copper",) if joined else ("via",))+ r.via_end = not joined+ self.commit(net, r)+ c.connected = True++ def _via_clear_exact(self, net, x, y):+ """Exact geometry: may a via of this net sit at (x, y)? Pads, routes and vias of other nets,+ every through pad, the outline and existing vias of any net are checked with real distances."""+ g = self.grid+ rv = RULES["via"] / 2.0+ i, j = g.to_cell(x, y)+ if not g.in_bounds(i, j) or not self.inside_for(RULES["via"])[j, i]:+ return False+ reach = rv + self.big_clr_val + 1.5+ for p in self.board.pads:+ if abs(p.x - x) > reach + p.half_long or abs(p.y - y) > reach + p.half_long:+ continue+ if p.net == net.name and not p.thru:+ continue+ need = rv + (RULES["via_spacing"] if p.thru and p.net == net.name else max(RULES["clearance"], p.clearance))+ if p.thru and p.net != net.name:+ need = max(need, RULES["via"] / 2.0 + 0.25 + (p.drill or 0) / 2.0 - 0) # hole to hole 0.25+ for poly in p.polys:+ if _point_poly_distance(x, y, poly) < need:+ return False+ for other in self.nets.values():+ if other.idx == net.idx:+ continue+ for r in other.routes:+ need = rv + RULES["clearance"] + r.width / 2.0+ for (ax, ay, bx, by) in _route_segments(g, r.cells):+ if abs(ax - x) > 3 and abs(bx - x) > 3:+ continue+ if _seg_distance(x, y, ax, ay, bx, by) < need:+ return False+ for (vi, vj, nid) in self.vias:+ vx, vy = g.to_xy(vi, vj)+ need = RULES["via_spacing"] if nid == net.idx else max(RULES["via"] + RULES["clearance"], RULES["via_spacing"])+ if math.hypot(vx - x, vy - y) < need:+ return False+ return True++ def _via_clear_other(self, net, i, j):+ g = self.grid+ r = (RULES["clearance"] + RULES["via"] / 2.0 + SLOP) / RES+ R = int(math.ceil(r)) + 1+ for L in (F_CU, B_CU):+ for raw in (self.pad_raw[L], self.route_raw[L]):+ sub = raw[max(0, j - R):j + R + 1, max(0, i - R):i + R + 1]+ jj, ii = np.nonzero((sub != -1) & (sub != net.idx))+ for a, b in zip(jj, ii):+ if (a + max(0, j - R) - j) ** 2 + (b + max(0, i - R) - i) ** 2 <= r * r:+ return False+ for (vi, vj, _) in self.vias:+ if math.hypot(vi - i, vj - j) * RES < RULES["via_spacing"]:+ return False+ return bool(self.inside_for(RULES["via"])[j, i])++ # -- driver --------------------------------------------------------------------------+ def mst_length(self, net):+ pts = [c.xy for c in net.clusters]+ if len(pts) < 2:+ return 0.0+ inn = [pts[0]]+ rest = pts[1:]+ total = 0.0+ while rest:+ best = min(((math.dist(a, b), b) for a in inn for b in rest), key=lambda x: x[0])+ total += best[0]+ inn.append(best[1])+ rest.remove(best[1])+ return total++ def run(self, only=None, planes=True, rip_per_net=8, rip_global=400, priority=None):+ t0 = time.time()+ self.rip_total = 0+ for n in self.nets.values():+ n.rips = 0+ if planes:+ # plane stubs first: the shortest connections on the board, and their vias then shape+ # the signal routing instead of hunting for holes in it afterwards+ for name in RULES["planes"]:+ net = self.nets.get(name)+ if net is None or (only is not None and name not in only):+ continue+ t1 = time.time()+ self.route_plane_net(net)+ log(" %-28s plane %s: %d smd stubs, %d via-in-pad, %d failed, %.1fs" % (+ net.name, net.plane, len(net.routes) - len(net.via_in_pad), len(net.via_in_pad), len(net.failed), time.time() - t1))+ signal = [n for n in self.nets.values() if not n.plane and len(n.clusters) >= 2 and (only is None or n.name in only)]+ for n in signal:+ n.mst_len = self.mst_length(n)+ first = [n for n in signal if n.name in (priority or ())]+ rest = [n for n in signal if n.name not in (priority or ())]+ queue = sorted(first, key=lambda n: n.mst_len) + sorted(rest, key=lambda n: n.mst_len)+ log("routing %d signal nets, shortest first (%.1f mm .. %.1f mm MST)%s" % (+ len(queue), queue[0].mst_len if queue else 0, queue[-1].mst_len if queue else 0,+ "" if not first else ", %d nets that failed last pass go first: %s" % (len(first), [n.name for n in first])))+ done = []+ order_no = 0+ best_state = None+ while queue:+ net = queue.pop(0)+ if net.routes:+ self.rip(net)+ t1 = time.time()+ blockers = self.route_net(net)+ order_no += 1+ net.routed_order = order_no+ log(" %-28s %2d clusters %s %d routes, %d failed, %.1fs%s" % (+ net.name, len(net.clusters), "/".join("%.2g" % w for w in net.widths), len(net.routes), len(net.failed), time.time() - t1,+ "" if not net.failed else " FAILED %s" % net.failed))+ score = sum(len(n.failed) for n in self.nets.values() if n not in queue) + sum(max(0, len(n.clusters) - 1) for n in queue)+ if best_state is None or score < best_state[0]:+ best_state = (score, self.snapshot())+ if net.failed and blockers and net.rips < rip_per_net and self.rip_total < rip_global:+ cands = sorted((self.nets[self.name_of(b)] for b in blockers if self.nets[self.name_of(b)].routes and not self.nets[self.name_of(b)].plane),+ key=lambda n: -(n.routed_order or 0))[:4]+ stubs = []+ soft = set()+ for (L, i, j) in net.last_soft:+ for di in range(-6, 7):+ for dj in range(-6, 7):+ soft.add((i + di, j + dj))+ # plane stubs are ripped only when nothing else blocks: a stub moves easily, a+ # signal net that has to be re-routed around a moved stub does not+ for b in (blockers if not cands else ()):+ pn = self.nets[self.name_of(b)]+ if not pn.plane:+ continue+ for r in list(pn.routes):+ if any((i, j) in soft for (_, i, j) in r.cells):+ stubs.append((pn, r.start[1]))+ if cands or stubs:+ log(" rip-up %s%s and retry %s" % ([c.name for c in cands], "" if not stubs else " + plane stubs %s" % [c.key for _, c in stubs], net.name))+ for c in cands:+ self.rip(c)+ if c in queue:+ queue.remove(c)+ for pn, cl in stubs:+ self.rip_cluster(pn, cl)+ net.rips += 1+ queue.insert(0, net)+ for c in cands:+ queue.insert(1, c)+ continue+ # a signal landed: give any ripped plane stubs their spot back right away+ for name in RULES["planes"]:+ pn = self.nets.get(name)+ if pn is not None and pn.failed and planes:+ self.route_plane_net(pn, retry=True)+ done.append(net)+ if planes:+ # second chance for plane stubs that were walled in by reservations the signal routing has since released+ for name in RULES["planes"]:+ net = self.nets.get(name)+ if net is None or not net.failed or (only is not None and name not in only):+ continue+ before = len(net.failed)+ self.route_plane_net(net, retry=True)+ log(" %-28s plane retry: %d of %d stubs recovered" % (net.name, before - len(net.failed), before))+ final = sum(len(n.failed) for n in self.nets.values())+ if best_state is not None and best_state[0] < final:+ log(" restoring the best intermediate state (%d failed connections instead of %d)" % (best_state[0], final))+ self.restore(best_state[1])+ if planes:+ for name in RULES["planes"]:+ pn = self.nets.get(name)+ if pn is not None and pn.failed:+ self.route_plane_net(pn, retry=True)+ final = sum(len(n.failed) for n in self.nets.values())+ log("routing done in %.1fs, %d node expansions, %d rip-ups, %d failed connections" % (time.time() - t0, self.stats["expanded"], self.stats["rips"], final))+ return final++ def reset(self):+ """Drop every route and reservation state so a fresh pass can start (history is kept)."""+ for net in self.nets.values():+ if net.routes:+ self.rip(net)+ net.failed = []+ net.via_in_pad = []+ net.routed_order = None+ net.used_escapes = set()+ for c in net.clusters:+ c.connected = False+ self.rip_total = 0++ def snapshot(self):+ return {name: (list(n.routes), set(n.used_escapes), list(n.failed), list(n.via_in_pad), n.routed_order) for name, n in self.nets.items()}++ def restore(self, snap):+ self.reset()+ for name, (routes, used, failed, vip, order) in snap.items():+ net = self.nets[name]+ net.used_escapes = set(used)+ net.failed = list(failed)+ net.via_in_pad = list(vip)+ net.routed_order = order+ for r in routes:+ net.routes.append(r)+ self.stamp_route(net, r, 1)+ for c in net.clusters:+ c.connected = any(r.start[1] is c or (r.end[0] in ("pad", "escape") and r.end[1] is c) for r in routes) or (net.plane and c.primary.thru)++ # -- plan emission -----------------------------------------------------------------------+ def _waypoints(self, net, route):+ g = self.grid+ cells = route.cells+ pts = []++ def xy(c):+ return list(g.to_xy(c[1], c[2]))++ # start+ kind, cl, term = route.start+ if kind == "pad":+ if term[0] == B_CU:+ pts.append({"pad": cl.primary.key, "layer": "B.Cu"})+ else:+ pts.append(cl.primary.key)+ else:+ pts.append(xy(cells[0]))+ # middle: collinear merge with forced breaks and layer changes+ k = 1+ n = len(cells)+ while k < n:+ L, i, j = cells[k]+ pL, pi, pj = cells[k - 1]+ if L != pL:+ # via at this cell+ pts.append({"x": xy(cells[k])[0], "y": xy(cells[k])[1], "layer": LAYER_NAMES[L]})+ k += 1+ continue+ di, dj = i - pi, j - pj+ m = k+ while m + 1 < n and cells[m + 1][0] == L and (cells[m + 1][1] - cells[m][1], cells[m + 1][2] - cells[m][2]) == (di, dj) and m not in route.breaks:+ m += 1+ if m == n - 1:+ break+ pts.append(xy(cells[m]))+ k = m + 1+ # end+ last = cells[-1]+ ek = route.end[0]+ if route.via_end:+ p = xy(last)+ if len(cells) == 1 and kind == "pad":+ p = [cl.primary.x, cl.primary.y]+ pts.append({"x": p[0], "y": p[1], "layer": route.via_end_layer})+ if ek == "pad":+ pts.append(route.end[1].primary.key)+ elif ek == "pad":+ cl = route.end[1]+ if pts and isinstance(pts[-1], dict) and pts[-1].get("layer") and len(cells) > 1 and cells[-1][1:] == cells[-2][1:]:+ pass+ pts.append(cl.primary.key)+ else:+ pts.append(xy(last))+ # a via exactly at the last cell followed by the pad name: keep both (the marker then the pad)+ return pts++ def plan(self):+ entries = []+ g = self.grid+ for net in sorted(self.nets.values(), key=lambda n: (n.routed_order or 10 ** 6, n.name)):+ if not net.routes:+ continue+ by_width = defaultdict(list)+ for r in net.routes:+ pts = self._waypoints(net, r)+ if len(pts) >= 2:+ by_width[r.width].append(pts)+ stubs = []+ for (cidx, term) in sorted(net.used_escapes):+ cl = net.clusters[cidx]+ stubs.append([cl.primary.key, list(g.to_xy(term[1], term[2]))])+ if stubs:+ entries.append({"net": net.name, "width": RULES["stub"], "viaSize": RULES["via"], "viaDrill": RULES["drill"], "paths": stubs})+ for w in sorted(by_width, reverse=True):+ entries.append({"net": net.name, "width": w, "viaSize": RULES["via"], "viaDrill": RULES["drill"], "paths": by_width[w]})+ return entries++ def report(self):+ nets = {}+ for net in self.nets.values():+ if len(net.clusters) < 2 and not net.plane:+ continue+ nets[net.name] = {+ "clusters": len(net.clusters), "pads": len(net.pads), "routes": len(net.routes),+ "widths": sorted({r.width for r in net.routes}, reverse=True), "plane": net.plane,+ "failed": net.failed, "viaInPad": net.via_in_pad, "ripUps": net.rips, "order": net.routed_order,+ "mstMm": round(net.mst_len, 2),+ }+ return {"rules": RULES, "nets": nets, "stats": dict(self.stats),+ "unrouted": [(n, f) for n in nets for f in nets[n]["failed"]]}+++def main(argv=None):+ ap = argparse.ArgumentParser(description=__doc__.split("\n\n")[0])+ ap.add_argument("board")+ ap.add_argument("--out", help="plan JSON (default: <board dir>/fable-esc-routing-plan.json)")+ ap.add_argument("--report", help="router report JSON")+ ap.add_argument("--nets", help="comma separated subset of nets")+ ap.add_argument("--no-planes", action="store_true")+ ap.add_argument("--passes", type=int, default=3, help="full passes; nets that failed a pass are routed first in the next")+ ap.add_argument("--verbose", action="store_true")+ a = ap.parse_args(argv)+ board = Board(a.board)+ r = Router(board, a.verbose)+ only = set(a.nets.split(",")) if a.nets else None+ best = None+ priority = None+ for k in range(1, a.passes + 1):+ if k > 1:+ r.reset()+ log("=== pass %d of %d ===" % (k, a.passes))+ failed = r.run(only=only, planes=not a.no_planes, priority=priority)+ names = sorted({n.name for n in r.nets.values() if n.failed})+ log("=== pass %d: %d failed connections in %s" % (k, failed, names))+ if best is None or failed < best[0]:+ best = (failed, r.snapshot(), k)+ if failed == 0:+ break+ priority = names+ if best is not None:+ r.restore(best[1])+ log("keeping pass %d (%d failed connections)" % (best[2], best[0]))+ entries = r.plan()+ rep = r.report()+ out = a.out or os.path.join(os.path.dirname(os.path.abspath(a.board)), "fable-esc-routing-plan.json")+ with open(out, "w", encoding="utf-8") as f:+ json.dump({"engine": "Claude Fable 5.1 grid maze router (ai_router.py)", "board": os.path.basename(a.board),+ "rules": {k: v for k, v in RULES.items() if k in ("track", "clearance", "via", "drill", "edge", "planes", "wide", "mid")},+ "nets": entries}, f, indent=1)+ log("plan: %s (%d entries, %d nets)" % (out, len(entries), len({e["net"] for e in entries})))+ if rep["unrouted"]:+ log("UNROUTED: %s" % rep["unrouted"])+ if a.report:+ with open(a.report, "w", encoding="utf-8") as f:+ json.dump(rep, f, indent=1)+ return 0 if not rep["unrouted"] else 3+++if __name__ == "__main__":+ sys.exit(main())
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demo/routing/esc/escboard.pyadded+532@@ -0,0 +1,532 @@+#!/usr/bin/env python3+"""Board model, pad geometry and grid rasterisation shared by the ESC routing scripts.++Reads a KiCad 10 `.kicad_pcb` with the span-keeping tokenizer from+tools/make_placement_fixture.py and turns it into what a grid router needs:++ * every copper pad in BOARD coordinates (footprint position + rotation, KiCad's+ y-down convention: x' = x*cos + y*sin, y' = -x*sin + y*cos), with its outline as+ one or more polygons (rect/roundrect as the rectangle, oval as a stadium, circle as+ a 32-gon, custom pads as their anchor plus every gr_poly/gr_rect/gr_circle primitive)+ * the Edge.Cuts outline as one closed polygon (arcs sampled)+ * the net format (KiCad 10 boards carry `(net "NAME")` on pads and no net table)+ * a 0.1 mm grid with conservative rasterisers (a cell is copper if any part of the+ shape touches the cell square) and a disk dilation for clearance maps++Python 3 plus numpy. Nothing here writes a file.+"""+import math+import os+import sys++import numpy as np++_TOOLS = os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "..", "..", "tools")+sys.path.insert(0, os.path.abspath(_TOOLS))+from make_placement_fixture import parse, reference_of, num # noqa: E402++RES = 0.1 # mm per grid cell+F_CU, B_CU = 0, 1+LAYER_NAMES = {F_CU: "F.Cu", B_CU: "B.Cu"}+LAYER_IDS = {"F.Cu": F_CU, "B.Cu": B_CU}+++# ----------------------------------------------------------------------------- geometry++def rot_kicad(px, py, deg):+ """KiCad's board rotation of a local offset (y-down, positive angle = counterclockwise on screen)."""+ a = math.radians(deg)+ c, s = math.cos(a), math.sin(a)+ return px * c + py * s, -px * s + py * c+++def circle_poly(cx, cy, r, n=32):+ return [(cx + r * math.cos(2 * math.pi * k / n), cy + r * math.sin(2 * math.pi * k / n)) for k in range(n)]+++def stadium_poly(sx, sy, n=10):+ """Oval pad of size sx x sy centred at 0 (local frame)."""+ if sx >= sy:+ r = sy / 2.0+ d = (sx - sy) / 2.0+ pts = []+ for k in range(n + 1):+ a = -math.pi / 2 + math.pi * k / n+ pts.append((d + r * math.cos(a), r * math.sin(a)))+ for k in range(n + 1):+ a = math.pi / 2 + math.pi * k / n+ pts.append((-d + r * math.cos(a), r * math.sin(a)))+ return pts+ pts = stadium_poly(sy, sx, n)+ return [(y, x) for x, y in pts]+++def arc_points(p0, pm, p1, max_step=0.35):+ """Sample a KiCad three-point arc (start, mid, end) into a polyline including both ends."""+ (x0, y0), (xm, ym), (x1, y1) = p0, pm, p1+ ax, ay = xm - x0, ym - y0+ bx, by = x1 - x0, y1 - y0+ d = 2.0 * (ax * by - ay * bx)+ if abs(d) < 1e-9:+ return [p0, p1]+ a2 = ax * ax + ay * ay+ b2 = bx * bx + by * by+ ux = (by * a2 - ay * b2) / d+ uy = (ax * b2 - bx * a2) / d+ cx, cy = x0 + ux, y0 + uy+ r = math.hypot(ux, uy)+ t0 = math.atan2(y0 - cy, x0 - cx)+ tm = math.atan2(ym - cy, xm - cx)+ t1 = math.atan2(y1 - cy, x1 - cx)++ def ccw(a, b):+ return (b - a) % (2 * math.pi)++ if ccw(t0, tm) <= ccw(t0, t1):+ sweep = ccw(t0, t1)+ else:+ sweep = -ccw(t1, t0)+ n = max(2, int(math.ceil(abs(sweep) * r / max_step)))+ return [(cx + r * math.cos(t0 + sweep * k / n), cy + r * math.sin(t0 + sweep * k / n)) for k in range(n + 1)]+++def chain_polylines(pieces, tol=0.01):+ """Join open polylines end to end into one closed loop (the board outline)."""+ pieces = [list(p) for p in pieces if len(p) >= 2]+ if not pieces:+ return []+ loop = pieces.pop(0)+ while pieces:+ end = loop[-1]+ best = None+ for idx, p in enumerate(pieces):+ if math.dist(end, p[0]) < tol:+ best = (idx, False)+ break+ if math.dist(end, p[-1]) < tol:+ best = (idx, True)+ break+ if best is None:+ raise ValueError("Edge.Cuts outline is not one closed loop (gap at %s)" % (end,))+ idx, rev = best+ p = pieces.pop(idx)+ if rev:+ p.reverse()+ loop.extend(p[1:])+ if math.dist(loop[0], loop[-1]) < tol:+ loop.pop()+ return loop+++def polygon_area(poly):+ a = 0.0+ for i in range(len(poly)):+ x0, y0 = poly[i]+ x1, y1 = poly[(i + 1) % len(poly)]+ a += x0 * y1 - x1 * y0+ return a / 2.0+++# ----------------------------------------------------------------------------- pads++class Pad:+ __slots__ = ("ref", "name", "net", "x", "y", "angle", "shape", "size", "drill", "thru", "layers",+ "polys", "key", "fp_x", "fp_y", "long_axis", "half_long", "half_short", "uuid", "polys_centre", "clearance")++ def __init__(self):+ self.polys = []++ def __repr__(self):+ return "Pad(%s %s at %.3f,%.3f)" % (self.key, self.net, self.x, self.y)++ @property+ def min_dim(self):+ return 2.0 * self.half_short++ def local_extent(self):+ """Extents of the pad copper in its own (rotated) frame: (half_long, half_short, axis unit vector)."""+ return self.half_long, self.half_short, self.long_axis+++def _pad_local_polys(pad_node, shape, sx, sy):+ """Polygons of the pad shape in the pad-local unrotated frame, centred on the pad origin."""+ polys = []+ if shape in ("rect", "roundrect", "trapezoid", "chamfer"):+ polys.append([(-sx / 2, -sy / 2), (sx / 2, -sy / 2), (sx / 2, sy / 2), (-sx / 2, sy / 2)])+ elif shape == "oval":+ polys.append(stadium_poly(sx, sy))+ elif shape == "circle":+ polys.append(circle_poly(0.0, 0.0, sx / 2.0))+ elif shape == "custom":+ opts = pad_node.find("options")+ anchor = "rect"+ if opts is not None and opts.find("anchor") is not None:+ anchor = opts.find("anchor").value()+ if anchor == "circle":+ polys.append(circle_poly(0.0, 0.0, sx / 2.0))+ else:+ polys.append([(-sx / 2, -sy / 2), (sx / 2, -sy / 2), (sx / 2, sy / 2), (-sx / 2, sy / 2)])+ prims = pad_node.find("primitives")+ if prims is not None:+ for prim in prims.items:+ if not hasattr(prim, "tag"):+ continue+ if prim.tag == "gr_poly":+ pts = prim.find("pts")+ if pts is not None:+ poly = [(xy.number(1), xy.number(2)) for xy in pts.find_all("xy")]+ w = prim.find("width")+ wv = w.number(1) if w is not None else 0.0+ if wv and wv > 0:+ # stroked outline: widen by half the stroke (conservative bbox growth)+ poly = _grow_poly(poly, wv / 2.0)+ polys.append(poly)+ elif prim.tag == "gr_rect":+ s, e = prim.find("start"), prim.find("end")+ if s is not None and e is not None:+ x0, y0, x1, y1 = s.number(1), s.number(2), e.number(1), e.number(2)+ polys.append([(x0, y0), (x1, y0), (x1, y1), (x0, y1)])+ elif prim.tag == "gr_circle":+ c, e = prim.find("center"), prim.find("end")+ if c is not None and e is not None:+ r = math.hypot(e.number(1) - c.number(1), e.number(2) - c.number(2))+ w = prim.find("width")+ r += (w.number(1) if w is not None else 0.0) / 2.0+ polys.append(circle_poly(c.number(1), c.number(2), r))+ elif prim.tag == "gr_line":+ s, e = prim.find("start"), prim.find("end")+ w = prim.find("width")+ if s is not None and e is not None:+ hw = (w.number(1) if w is not None else 0.1) / 2.0+ polys.append(_thick_line_poly((s.number(1), s.number(2)), (e.number(1), e.number(2)), hw))+ else:+ polys.append([(-sx / 2, -sy / 2), (sx / 2, -sy / 2), (sx / 2, sy / 2), (-sx / 2, sy / 2)])+ return polys+++def _grow_poly(poly, d):+ """Cheap outward growth of a polygon: push every vertex away from the centroid by d."""+ cx = sum(p[0] for p in poly) / len(poly)+ cy = sum(p[1] for p in poly) / len(poly)+ out = []+ for x, y in poly:+ vx, vy = x - cx, y - cy+ n = math.hypot(vx, vy) or 1.0+ out.append((x + vx / n * d, y + vy / n * d))+ return out+++def _thick_line_poly(a, b, hw):+ dx, dy = b[0] - a[0], b[1] - a[1]+ n = math.hypot(dx, dy) or 1.0+ nx, ny = -dy / n * hw, dx / n * hw+ return [(a[0] + nx, a[1] + ny), (b[0] + nx, b[1] + ny), (b[0] - nx, b[1] - ny), (a[0] - nx, a[1] - ny)]+++def _oriented_extent(polys):+ xs = [p[0] for poly in polys for p in poly]+ ys = [p[1] for poly in polys for p in poly]+ return min(xs), min(ys), max(xs), max(ys)+++# ----------------------------------------------------------------------------- board++class Board:+ def __init__(self, path):+ self.path = path+ with open(path, "r", encoding="utf-8", newline="") as f:+ self.text = f.read()+ self.root = parse(self.text)+ if self.root.tag != "kicad_pcb":+ raise ValueError("%s is not a kicad_pcb" % path)+ self.net_table = {} # number -> name when the file has a (net N "NAME") table+ for n in self.root.find_all("net"):+ try:+ self.net_table[int(n.atom(1))] = n.atom(2) or ""+ except (TypeError, ValueError):+ pass+ self.net_format = "number" if self.net_table else "name"+ self.pads = []+ self.footprints = {}+ self._read_footprints()+ self.outline = self._read_outline()+ xs = [p[0] for p in self.outline]+ ys = [p[1] for p in self.outline]+ self.bbox = (min(xs), min(ys), max(xs), max(ys))+ self.nets = {}+ for p in self.pads:+ if p.net:+ self.nets.setdefault(p.net, []).append(p)+ self.copper_layers = [a.atom(1) for a in self.root.find("layers").items[1:] if a.atom(2) == "signal" or a.atom(2) == "power" or a.atom(2) == "mixed"]++ # -- footprints and pads+ def _read_footprints(self):+ for fp in self.root.find_all("footprint"):+ ref = reference_of(fp)+ at = fp.find("at")+ fx, fy = at.number(1), at.number(2)+ rot = at.number(3) or 0.0+ layer = fp.find("layer").value() if fp.find("layer") is not None else "F.Cu"+ fp_clr = fp.find("clearance")+ fp_clearance = fp_clr.number(1) if fp_clr is not None else 0.0+ self.footprints[ref] = {"x": fx, "y": fy, "rot": rot, "layer": layer, "lib": fp.atom(1), "node": fp}+ for pn in fp.find_all("pad"):+ name = pn.value()+ ptype = pn.atom(2)+ shape = pn.atom(3)+ layers_node = pn.find("layers")+ layers = [a.value for a in layers_node.items[1:]] if layers_node is not None else []+ copper = set()+ for l in layers:+ if l == "*.Cu":+ copper.update(("F.Cu", "B.Cu"))+ elif l.endswith(".Cu"):+ copper.add(l)+ if not copper or not name:+ continue # paste-only apertures and unnamed helper pads carry no copper+ pat = pn.find("at")+ px, py = pat.number(1), pat.number(2)+ pang = pat.number(3) if pat.atom(3) is not None else rot+ size = pn.find("size")+ sx, sy = size.number(1), size.number(2)+ dr = pn.find("drill")+ pad = Pad()+ pad.ref, pad.name, pad.key = ref, name, "%s.%s" % (ref, name)+ nn = pn.find("net")+ pad.net = nn.value() if nn is not None else ""+ if self.net_format == "number" and nn is not None:+ try:+ pad.net = self.net_table.get(int(nn.atom(1)), pad.net)+ except (TypeError, ValueError):+ pass+ ox, oy = rot_kicad(px, py, rot)+ pad.x, pad.y = fx + ox, fy + oy+ pad.angle = pang+ pad.shape, pad.size = shape, (sx, sy)+ pad.drill = dr.number(1) if dr is not None else None+ pad.thru = ptype == "thru_hole" or ptype == "np_thru_hole"+ pad.layers = frozenset(l for l in copper if l in ("F.Cu", "B.Cu"))+ pad.fp_x, pad.fp_y = fx, fy+ u = pn.find("uuid")+ pad.uuid = u.value() if u is not None else ""+ pclr = pn.find("clearance")+ # KiCad: the effective clearance between two items is the largest of the rule and both local overrides+ pad.clearance = max(fp_clearance, pclr.number(1) if pclr is not None else 0.0)+ local = _pad_local_polys(pn, shape, sx, sy)+ x0, y0, x1, y1 = _oriented_extent(local)+ lx, ly = (x1 - x0) / 2.0, (y1 - y0) / 2.0+ # centre of the copper in the local frame (custom pads are often offset from the origin)+ lcx, lcy = (x0 + x1) / 2.0, (y0 + y1) / 2.0+ if lx >= ly:+ pad.half_long, pad.half_short = lx, ly+ axis = rot_kicad(1.0, 0.0, pang)+ else:+ pad.half_long, pad.half_short = ly, lx+ axis = rot_kicad(0.0, 1.0, pang)+ pad.long_axis = axis+ for poly in local:+ pad.polys.append([(pad.x + rot_kicad(x, y, pang)[0], pad.y + rot_kicad(x, y, pang)[1]) for x, y in poly])+ # keep the copper centre for escapes (custom pads)+ ccx, ccy = rot_kicad(lcx, lcy, pang)+ pad.polys_centre = (pad.x + ccx, pad.y + ccy)+ self.pads.append(pad)++ # -- outline+ def _read_outline(self):+ pieces = []+ for node in self.root.items:+ if not hasattr(node, "tag"):+ continue+ layer = node.find("layer") if node.tag and node.tag.startswith("gr_") else None+ if layer is None or layer.value() != "Edge.Cuts":+ continue+ if node.tag == "gr_line":+ s, e = node.find("start"), node.find("end")+ pieces.append([(s.number(1), s.number(2)), (e.number(1), e.number(2))])+ elif node.tag == "gr_arc":+ s, m, e = node.find("start"), node.find("mid"), node.find("end")+ pieces.append(arc_points((s.number(1), s.number(2)), (m.number(1), m.number(2)), (e.number(1), e.number(2))))+ elif node.tag == "gr_rect":+ s, e = node.find("start"), node.find("end")+ x0, y0, x1, y1 = s.number(1), s.number(2), e.number(1), e.number(2)+ return [(x0, y0), (x1, y0), (x1, y1), (x0, y1)]+ elif node.tag == "gr_circle":+ c, e = node.find("center"), node.find("end")+ r = math.hypot(e.number(1) - c.number(1), e.number(2) - c.number(2))+ return circle_poly(c.number(1), c.number(2), r, 64)+ elif node.tag == "gr_poly":+ pts = node.find("pts")+ return [(xy.number(1), xy.number(2)) for xy in pts.find_all("xy")]+ if not pieces:+ raise ValueError("no Edge.Cuts outline")+ return chain_polylines(pieces)++ def net_ref_sexpr(self, net_name):+ """The `(net ...)` line for copper on this board, matching the bridge's net_sexpr."""+ if self.net_format == "number":+ number = next((n for n, name in self.net_table.items() if name == net_name), None)+ if number is None:+ raise KeyError("net %r is not in the net table" % net_name)+ return "\t\t(net %d)\n" % number+ return "\t\t(net %s)\n" % _quote(net_name)++ def pad_by_key(self, key):+ for p in self.pads:+ if p.key == key:+ return p+ return None+++def _quote(s):+ return '"' + s.replace("\\", "\\\\").replace('"', '\\"') + '"'+++# ----------------------------------------------------------------------------- grid++class Grid:+ """A 0.1 mm cell grid covering the outline bbox. Cell (i, j) is centred on (x0 + i*RES, y0 + j*RES)."""++ def __init__(self, bbox, res=RES):+ self.res = res+ self.x0, self.y0 = bbox[0], bbox[1]+ self.W = int(round((bbox[2] - bbox[0]) / res)) + 1+ self.H = int(round((bbox[3] - bbox[1]) / res)) + 1++ def to_cell(self, x, y):+ # round half UP (not Python's half-to-even) so pads at a 0.5 mm pitch on .x5 coordinates+ # snap to cells a consistent 5 apart+ # 1e-3 cell (0.1 um) of tolerance: KiCad coordinates carry nanometre noise (123.849998)+ return int(math.floor((x - self.x0) / self.res + 0.5 + 1e-3)), int(math.floor((y - self.y0) / self.res + 0.5 + 1e-3))++ def to_xy(self, i, j):+ return round(self.x0 + i * self.res, 4), round(self.y0 + j * self.res, 4)++ def in_bounds(self, i, j):+ return 0 <= i < self.W and 0 <= j < self.H++ # -- rasterisers (all conservative: any touch of the cell square marks the cell)+ def poly_mask(self, poly, mask=None):+ if mask is None:+ mask = np.zeros((self.H, self.W), dtype=bool)+ xs = np.array([p[0] for p in poly])+ ys = np.array([p[1] for p in poly])+ i0 = max(0, int(math.floor((xs.min() - self.x0) / self.res)) - 1)+ i1 = min(self.W - 1, int(math.ceil((xs.max() - self.x0) / self.res)) + 1)+ j0 = max(0, int(math.floor((ys.min() - self.y0) / self.res)) - 1)+ j1 = min(self.H - 1, int(math.ceil((ys.max() - self.y0) / self.res)) + 1)+ if i1 < i0 or j1 < j0:+ return mask+ ci = np.arange(i0, i1 + 1)+ cj = np.arange(j0, j1 + 1)+ cx = self.x0 + ci * self.res+ cy = self.y0 + cj * self.res+ CX, CY = np.meshgrid(cx, cy)+ inside = np.zeros(CX.shape, dtype=bool)+ n = len(poly)+ for k in range(n):+ xa, ya = poly[k]+ xb, yb = poly[(k + 1) % n]+ if ya == yb:+ continue+ cond = (ya > CY) != (yb > CY)+ xint = xa + (CY - ya) * (xb - xa) / (yb - ya)+ inside ^= cond & (CX < xint)+ # boundary supercover: sample each edge finely and mark the containing cells+ for k in range(n):+ xa, ya = poly[k]+ xb, yb = poly[(k + 1) % n]+ L = math.hypot(xb - xa, yb - ya)+ steps = max(1, int(math.ceil(L / 0.025)))+ t = np.linspace(0.0, 1.0, steps + 1)+ ex = xa + (xb - xa) * t+ ey = ya + (yb - ya) * t+ ii = np.round((ex - self.x0) / self.res).astype(int)+ jj = np.round((ey - self.y0) / self.res).astype(int)+ ok = (ii >= i0) & (ii <= i1) & (jj >= j0) & (jj <= j1)+ inside[jj[ok] - j0, ii[ok] - i0] = True+ mask[j0:j1 + 1, i0:i1 + 1] |= inside+ return mask++ def segment_cells(self, a, b, half_width, slack=None):+ """Cells whose centre is within half_width + slack of segment a-b. Returns (jj, ii) index arrays."""+ if slack is None:+ slack = self.res / 2.0+ r = half_width + slack+ xa, ya = a+ xb, yb = b+ i0 = max(0, int(math.floor((min(xa, xb) - r - self.x0) / self.res)))+ i1 = min(self.W - 1, int(math.ceil((max(xa, xb) + r - self.x0) / self.res)))+ j0 = max(0, int(math.floor((min(ya, yb) - r - self.y0) / self.res)))+ j1 = min(self.H - 1, int(math.ceil((max(ya, yb) + r - self.y0) / self.res)))+ if i1 < i0 or j1 < j0:+ return np.array([], dtype=int), np.array([], dtype=int)+ ci = np.arange(i0, i1 + 1)+ cj = np.arange(j0, j1 + 1)+ CX, CY = np.meshgrid(self.x0 + ci * self.res, self.y0 + cj * self.res)+ dx, dy = xb - xa, yb - ya+ L2 = dx * dx + dy * dy+ if L2 < 1e-12:+ t = np.zeros_like(CX)+ else:+ t = np.clip(((CX - xa) * dx + (CY - ya) * dy) / L2, 0.0, 1.0)+ px = xa + t * dx+ py = ya + t * dy+ d = np.hypot(CX - px, CY - py)+ jj, ii = np.nonzero(d <= r + 1e-9)+ return jj + j0, ii + i0++ def disk_cells(self, c, radius, slack=None):+ return self.segment_cells(c, c, radius, slack)++ def dilate(self, mask, r_cells):+ """Binary dilation by a disk of radius r_cells (float, in cells)."""+ if r_cells <= 0:+ return mask.copy()+ R = int(math.floor(r_cells))+ H, W = mask.shape+ padded = np.zeros((H + 2 * R, W + 2 * R), dtype=bool)+ padded[R:R + H, R:R + W] = mask+ out = np.zeros_like(mask)+ r2 = r_cells * r_cells + 1e-9+ for dy in range(-R, R + 1):+ for dx in range(-R, R + 1):+ if dx * dx + dy * dy <= r2:+ out |= padded[R + dy:R + dy + H, R + dx:R + dx + W]+ return out++ def outline_inside(self, outline, margin):+ """Cells whose centre is inside the outline polygon and at least `margin` from every edge."""+ inside, dmin = self.outline_distance(outline)+ return inside & (dmin >= margin)++ def outline_distance(self, outline):+ """(inside mask, distance of every cell centre to the nearest outline edge)."""+ inside = np.zeros((self.H, self.W), dtype=bool)+ ci = np.arange(self.W)+ cj = np.arange(self.H)+ CX, CY = np.meshgrid(self.x0 + ci * self.res, self.y0 + cj * self.res)+ n = len(outline)+ for k in range(n):+ xa, ya = outline[k]+ xb, yb = outline[(k + 1) % n]+ if ya == yb:+ continue+ cond = (ya > CY) != (yb > CY)+ xint = xa + (CY - ya) * (xb - xa) / (yb - ya)+ inside ^= cond & (CX < xint)+ dmin = np.full(CX.shape, np.inf)+ for k in range(n):+ xa, ya = outline[k]+ xb, yb = outline[(k + 1) % n]+ dx, dy = xb - xa, yb - ya+ L2 = dx * dx + dy * dy+ if L2 < 1e-12:+ continue+ t = np.clip(((CX - xa) * dx + (CY - ya) * dy) / L2, 0.0, 1.0)+ d = np.hypot(CX - (xa + t * dx), CY - (ya + t * dy))+ dmin = np.minimum(dmin, d)+ return inside, dmin+++def fmt(v):+ return num(v)
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"/NEUTRAL": {+ "clusters": 6,+ "pads": 6,+ "routes": 5,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [+ "R29.1"+ ],+ "ripUps": 10,+ "order": 190,+ "mstMm": 19.52+ },+ "/PB12": {+ "clusters": 4,+ "pads": 4,+ "routes": 3,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 6,+ "order": 166,+ "mstMm": 33.59+ },+ "/PB6": {+ "clusters": 2,+ "pads": 2,+ "routes": 0,+ "widths": [],+ "plane": null,+ "failed": [+ [+ "U5.43",+ "blocked by ['/HSE_OUT', '/MCU_LED', '/PB7', '/TIM1_CH2_INHB', '/USART1_RX', 'GND']"+ ]+ ],+ "viaInPad": [],+ "ripUps": 9,+ "order": 132,+ "mstMm": 15.72+ },+ "/PB7": {+ "clusters": 2,+ "pads": 2,+ "routes": 1,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 9,+ "order": 125,+ "mstMm": 11.81+ },+ "/RPM": {+ "clusters": 2,+ "pads": 2,+ "routes": 1,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 1,+ "order": 8,+ "mstMm": 2.5+ },+ "/SW": {+ "clusters": 2,+ "pads": 2,+ "routes": 1,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 1,+ "order": 1,+ "mstMm": 1.66+ },+ "/SWCLK": {+ "clusters": 4,+ "pads": 4,+ "routes": 3,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 7,+ "order": 186,+ "mstMm": 33.66+ },+ "/SWDIO": {+ "clusters": 4,+ "pads": 4,+ "routes": 3,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 4,+ "order": 149,+ "mstMm": 34.55+ },+ "/TIM15_CH1_DSHOT": {+ "clusters": 3,+ "pads": 3,+ "routes": 2,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 9,+ "order": 185,+ "mstMm": 24.65+ },+ "/TIM1_CH1N_INLC": {+ "clusters": 2,+ "pads": 2,+ "routes": 1,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 10,+ "order": 45,+ "mstMm": 11.42+ },+ "/TIM1_CH1_INHC": {+ "clusters": 2,+ "pads": 2,+ "routes": 1,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 7,+ "order": 147,+ "mstMm": 11.57+ },+ "/TIM1_CH2N_INLB": {+ "clusters": 2,+ "pads": 2,+ "routes": 0,+ "widths": [],+ "plane": null,+ "failed": [+ [+ "U5.28",+ "blocked by ['/TIM1_CH1N_INLC', '/TIM1_CH3N_INLA']"+ ]+ ],+ "viaInPad": [],+ "ripUps": 13,+ "order": 60,+ "mstMm": 11.47+ },+ "/TIM1_CH2_INHB": {+ "clusters": 2,+ "pads": 2,+ "routes": 1,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 8,+ "order": 145,+ "mstMm": 11.62+ },+ "/TIM1_CH3N_INLA": {+ "clusters": 2,+ "pads": 2,+ "routes": 1,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 9,+ "order": 169,+ "mstMm": 11.52+ },+ "/TIM1_CH3_INHA": {+ "clusters": 3,+ "pads": 3,+ "routes": 2,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 6,+ "order": 62,+ "mstMm": 11.88+ },+ "/USART1_RX": {+ "clusters": 4,+ "pads": 4,+ "routes": 3,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 10,+ "order": 68,+ "mstMm": 18.21+ },+ "/USART1_TX": {+ "clusters": 4,+ "pads": 4,+ "routes": 3,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 2,+ "order": 122,+ "mstMm": 18.61+ },+ "/VBAT_SENSE": {+ "clusters": 4,+ "pads": 4,+ "routes": 3,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 4,+ "order": 158,+ "mstMm": 17.54+ },+ "/VDDA": {+ "clusters": 6,+ "pads": 6,+ "routes": 5,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 1,+ "order": 173,+ "mstMm": 12.81+ },+ "/nRST": {+ "clusters": 6,+ "pads": 6,+ "routes": 5,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 11,+ "order": 189,+ "mstMm": 37.29+ },+ "GND": {+ "clusters": 90,+ "pads": 96,+ "routes": 76,+ "widths": [+ 0.25+ ],+ "plane": "In1.Cu",+ "failed": [],+ "viaInPad": [],+ "ripUps": 1,+ "order": null,+ "mstMm": 0.0+ },+ "GND_OUT": {+ "clusters": 3,+ "pads": 3,+ "routes": 2,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 1,+ "order": 192,+ "mstMm": 76.08+ },+ "Net-(LED1-A)": {+ "clusters": 2,+ "pads": 2,+ "routes": 1,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [],+ "ripUps": 8,+ "order": 59,+ "mstMm": 8.08+ },+ "Net-(LED2-A)": {+ "clusters": 2,+ "pads": 2,+ "routes": 0,+ "widths": [],+ "plane": null,+ "failed": [+ [+ "R11.1",+ "blocked by ['+3V3', 'GND']"+ ]+ ],+ "viaInPad": [+ "LED2.2",+ "LED2.2",+ "R11.1",+ "LED2.2"+ ],+ "ripUps": 6,+ "order": 134,+ "mstMm": 16.86+ },+ "Net-(LED3-A)": {+ "clusters": 2,+ "pads": 2,+ "routes": 1,+ "widths": [+ 0.25+ ],+ "plane": null,+ "failed": [],+ "viaInPad": [+ "LED3.2"+ ],+ "ripUps": 4,+ "order": 140,+ "mstMm": 2.47+ }+ },+ "stats": {+ "expanded": 44656623,+ "rips": 394,+ "viaInPad": 20+ },+ "unrouted": [+ [+ "+5V",+ [+ "U2.9",+ "blocked by ['GND']"+ ]+ ],+ [+ "/COMP2_INM_IO1_BEMF_A",+ [+ "R27.2",+ "blocked by ['+3V3']"+ ]+ ],+ [+ "/HSE_IN",+ [+ "U5.5",+ "blocked by ['/HSE_OUT', '/PB7', '/VBAT_SENSE']"+ ]+ ],+ [+ "/HSE_IN",+ [+ "C35.1",+ "blocked by ['/DRV_GLB', '/GLC', '/IBAT_SENSE', '/MCU_LED', '/SWCLK', '/TIM1_CH1N_INLC', '/TIM1_CH1_INHC', '/TIM1_CH2_INHB', '/TIM1_CH3N_INLA', 'Net-(LED1-A)']"+ ]+ ],+ [+ "/PB6",+ [+ "U5.43",+ "blocked by ['/HSE_OUT', '/MCU_LED', '/PB7', '/TIM1_CH2_INHB', '/USART1_RX', 'GND']"+ ]+ ],+ [+ "/TIM1_CH2N_INLB",+ [+ "U5.28",+ "blocked by ['/TIM1_CH1N_INLC', '/TIM1_CH3N_INLA']"+ ]+ ],+ [+ "Net-(LED2-A)",+ [+ "R11.1",+ "blocked by ['+3V3', 'GND']"+ ]+ ]+ ]+}
demo/routing/esc/offline-drc-report.jsonadded+67@@ -0,0 +1,67 @@+{+ "errors": 13,+ "newErrors": 0,+ "inheritedErrors": 13,+ "warnings": 172,+ "unconnected": 7,+ "rasterFillIslandWarnings": 34,+ "errorTypes": {+ "malformed_courtyard": 6,+ "clearance": 7+ },+ "newErrorTypes": {},+ "warningTypes": {+ "silk_over_copper": 23,+ "lib_footprint_issues": 149+ },+ "newErrorList": [],+ "unconnectedList": [+ [+ "Pad 4 [+5V] of U2 on F.Cu",+ "Pad 9 [+5V] of U2 on F.Cu"+ ],+ [+ "Track [/COMP2_INM_IO1_BEMF_A] on F.Cu, length 1.2385 mm",+ "Pad 2 [/COMP2_INM_IO1_BEMF_A] of R27 on F.Cu"+ ],+ [+ "Pad 5 [/HSE_IN] of U5 on F.Cu",+ "Pad 1 [/HSE_IN] of Y1 on F.Cu"+ ],+ [+ "Pad 1 [/HSE_IN] of C35 on F.Cu",+ "Pad 5 [/HSE_IN] of U5 on F.Cu"+ ],+ [+ "Pad 28 [/TIM1_CH2N_INLB] of U5 on F.Cu",+ "Pad 5 [/TIM1_CH2N_INLB] of U4 on F.Cu"+ ],+ [+ "Pad 2 [/PB6] of R17 on F.Cu",+ "Pad 43 [/PB6] of U5 on F.Cu"+ ],+ [+ "Pad 1 [Net-(LED2-A)] of R11 on F.Cu",+ "Pad 2 [Net-(LED2-A)] of LED2 on F.Cu"+ ]+ ],+ "kicadVersion": "10.0.2",+ "copper": {+ "entries": 105,+ "nets": 55,+ "segments": 1795,+ "vias": 255,+ "copperLengthMm": 1908.3,+ "segmentsByWidth": {+ "0.2": 57,+ "0.25": 1453,+ "0.5": 148,+ "1.0": 137+ },+ "zoneFillPolygons": {+ "GND": 17,+ "+3V3": 19+ }+ },+ "file": "demo/routing/esc/esc-g431-fable-routed-offline.kicad_pcb"+}
demo/routing/esc/plan-preview.pngadded⋯ 1 unchanged line ⋯
demo/routing/esc/render_plan.pyadded+69@@ -0,0 +1,69 @@+#!/usr/bin/env python3+"""Draw a routing plan over the board's pads as a PNG (a quick look without KiCad).++ python3 demo/routing/esc/render_plan.py BOARD.kicad_pcb PLAN.json OUT.png [--dpi 300] [--zoom x0,y0,x1,y1]++F.Cu copper red, B.Cu copper blue, vias black rings, pads grey (through pads darker), the outline+black. Plane nets' stubs and vias are drawn like any other copper.+"""+import argparse+import json+import os+import sys++import matplotlib+matplotlib.use("Agg")+import matplotlib.pyplot as plt # noqa: E402+from matplotlib.patches import Polygon, Circle # noqa: E402++sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))+from escboard import Board # noqa: E402+from write_copper import plan_to_copper # noqa: E402+++def main(argv=None):+ ap = argparse.ArgumentParser()+ ap.add_argument("board")+ ap.add_argument("plan")+ ap.add_argument("out")+ ap.add_argument("--dpi", type=int, default=250)+ ap.add_argument("--zoom", help="x0,y0,x1,y1 in mm")+ ap.add_argument("--labels", action="store_true", help="print reference designators")+ a = ap.parse_args(argv)+ board = Board(a.board)+ plan = json.load(open(a.plan, encoding="utf-8"))+ entries = plan["nets"] if isinstance(plan, dict) else plan+ x0, y0, x1, y1 = board.bbox+ if a.zoom:+ x0, y0, x1, y1 = [float(v) for v in a.zoom.split(",")]+ fig, ax = plt.subplots(figsize=((x1 - x0) / 10.0 + 1, (y1 - y0) / 10.0 + 1))+ ax.add_patch(Polygon(board.outline, closed=True, fill=False, lw=0.6, ec="black"))+ for p in board.pads:+ col = "#777777" if p.thru else "#b8b8b8"+ for poly in p.polys:+ ax.add_patch(Polygon(poly, closed=True, fc=col, ec="none", alpha=0.9))+ if p.thru and p.drill:+ ax.add_patch(Circle((p.x, p.y), p.drill / 2.0, fc="white", ec="none"))+ if a.labels:+ for ref, fp in board.footprints.items():+ if x0 <= fp["x"] <= x1 and y0 <= fp["y"] <= y1:+ ax.text(fp["x"], fp["y"], ref, fontsize=3, ha="center", va="center", color="#333333")+ for e in entries:+ segs, vias = plan_to_copper(board, e)+ for sx, sy, ex, ey, layer, w in segs:+ col = "#d0342c" if layer == "F.Cu" else "#2c6fd0"+ ax.plot([sx, ex], [sy, ey], color=col, lw=w * 72.0 / 25.4 * (a.dpi / 72.0) * 0.5, solid_capstyle="round", alpha=0.85, zorder=3 if layer == "F.Cu" else 2)+ for vx, vy, size, drill in vias:+ ax.add_patch(Circle((vx, vy), size / 2.0, fc="#222222", ec="none", zorder=4))+ ax.add_patch(Circle((vx, vy), drill / 2.0, fc="white", ec="none", zorder=5))+ ax.set_xlim(x0, x1)+ ax.set_ylim(y1, y0)+ ax.set_aspect("equal")+ ax.axis("off")+ fig.tight_layout(pad=0.1)+ fig.savefig(a.out, dpi=a.dpi)+ print(a.out)+++if __name__ == "__main__":+ main()
demo/routing/esc/route_live.pyadded+95@@ -0,0 +1,95 @@+#!/usr/bin/env python3+"""Replay a routing plan on the live board through the bridge, one kicad_route_net per entry.++Usage: route_live.py --target arav-rog --board "C:/.../esc-g431-fable-placed-planes.kicad_pcb" \\+ --plan fable-esc-routing-plan.json [--pause 0.6] [--thread "kicad-bridge-esc-routing"] \\+ [--log route-log.json] [--dry-run] [--start N] [--save]++Mirrors demo/placement/fable/place_live.py: kicad_routing_state gives the revision, every+plan entry becomes one kicad_route_net call (one native Undo step, DRC-checked by the bridge+against a snapshot) with expectedRevision from the previous reply, and the reply's revision+feeds the next call. Every reply is logged with timestamps. A drc_rejected or stale_board+reply stops the run and is printed in full; kicad_routing_validate closes the run and the+whole log is written as JSON. --dry-run sends every call with dryRun:true (nothing lands, the+revision never changes). --start N skips the first N entries (resume after a stop).+"""+import argparse+import json+import subprocess+import sys+import time++ap = argparse.ArgumentParser()+ap.add_argument("--target", required=True); ap.add_argument("--board", required=True); ap.add_argument("--plan", required=True)+ap.add_argument("--pause", type=float, default=0.6)+ap.add_argument("--thread", default="kicad-bridge-esc-routing"); ap.add_argument("--log", default="route-log.json")+ap.add_argument("--dry-run", action="store_true")+ap.add_argument("--start", type=int, default=0, help="skip the first N plan entries")+ap.add_argument("--save", action="store_true", help="ask the bridge to save the board after the last entry")+a = ap.parse_args()+T = ["adom-bridge", "--ai-thread", a.thread, "--target", a.target]+++def call(verb, args, timeout=240):+ t0 = time.time()+ out = subprocess.run(T + [verb, json.dumps(args)], capture_output=True, text=True, timeout=timeout).stdout+ try:+ r = json.loads(out)+ except Exception:+ r = {"status": "parse_error", "raw": out[:400]}+ r["_t0"] = t0; r["_dt"] = round(time.time() - t0, 2); r["_at"] = time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime(t0))+ return r+++plan = json.load(open(a.plan, encoding="utf-8"))+entries = plan["nets"] if isinstance(plan, dict) else plan+entries = entries[a.start:]++st = call("kicad_routing_state", {"filePath": a.board})+if st.get("success") is False or st.get("status") == "error" or not st.get("revision"):+ print("routing_state failed", json.dumps(st)[:800]); sys.exit(1)+rev = st["revision"]+print(f"start: revision {rev[:8]}, {len(st.get('pads', []))} pads, {len(st.get('segments', []))} segments, {len(st.get('vias', []))} vias on the board, "+ f"{len(st.get('netsRemaining', []))} nets remaining; {len(entries)} plan entries{' (dry run)' if a.dry_run else ''}")+log = {"start": {k: v for k, v in st.items() if k not in ("pads",)}, "plan": a.plan, "board": a.board, "target": a.target,+ "dryRun": a.dry_run, "entries": []}+t_start = time.time()+ok_count = 0+for i, e in enumerate(entries, 1):+ args = {"filePath": a.board, "expectedRevision": rev, "net": e["net"], "width": e["width"]}+ for k in ("viaSize", "viaDrill", "layer"):+ if k in e:+ args[k] = e[k]+ if "paths" in e:+ args["paths"] = e["paths"]+ else:+ args["points"] = e["points"]+ if a.dry_run:+ args["dryRun"] = True+ if a.save and i == len(entries) and not a.dry_run:+ args["save"] = True+ r = call("kicad_route_net", args)+ ok = r.get("success", True) is not False and r.get("status") != "error" and r.get("status") != "parse_error"+ code = r.get("errorCode") or ""+ drc = r.get("drc") or {}+ n_items = len(r.get("itemIds") or []) if not a.dry_run else len(r.get("segments") or []) + len(r.get("vias") or [])+ paths = len(e.get("paths") or [1])+ print(f"{i}/{len(entries)} {e['net']:<26} w{e['width']:<5} {paths} path(s): {'ok' if ok else 'FAIL'} {code} "+ f"items {n_items} drc errors {drc.get('errors')} unconnected {drc.get('unconnected')} rev {str(r.get('revision', ''))[:8]} {r['_dt']}s")+ log["entries"].append({"index": i + a.start, "net": e["net"], "width": e["width"], "reply": {k: v for k, v in r.items() if k not in ("_hint", "_timeoutHint")}})+ if not ok:+ print(json.dumps(r)[:2000])+ if code in ("drc_rejected", "stale_board") or not a.dry_run:+ break+ else:+ ok_count += 1+ if not a.dry_run:+ rev = r.get("revision") or rev+ time.sleep(a.pause)+v = call("kicad_routing_validate", {"filePath": a.board}, timeout=600)+log["validate"] = {k: val for k, val in v.items() if k not in ("_hint",)}+log["wall_seconds"] = round(time.time() - t_start, 1)+log["ok_entries"] = ok_count+print("validate:", {k: v.get(k) for k in ("status", "success", "errors", "warnings", "unconnected", "clean", "stale", "zonesRefilled")}, "wall", log["wall_seconds"], "s")+json.dump(log, open(a.log, "w"), indent=1)+print("log:", a.log)
demo/routing/esc/write_copper.pyadded+481@@ -0,0 +1,481 @@+#!/usr/bin/env python3+"""Apply a routing plan OFFLINE into a copy of the board and gate it with the shared KiCad DRC.++ python3 demo/routing/esc/write_copper.py BOARD-planes.kicad_pcb PLAN.json [--out FILE]+ [--no-fill-planes] [--drc] [--baseline BOARD.kicad_pcb]+ [--report drc-report.json]++The plan is the list of `kicad_route_net` calls the router wrote (see ai_router.py): each entry+is {"net", "width", "points": [...]} or {"net", "width", "paths": [[...], ...]} plus optional+"viaSize" / "viaDrill". Waypoints are "REF.PAD" (the pad centre), [x, y], or {"x", "y",+"layer": "B.Cu"} / {"pad": "REF.PAD", "layer": ...}; a layer marker means a through via AT that+point and every following segment on the new layer, exactly as rust/crates/kicad-core/src/pcb.rs+`plan` reads it. Segments and vias are written as KiCad 10 s-expressions with the board's net+reference, a fresh uuid each, and spliced in before the closing paren.++Plane zones (GND on In1.Cu, +3V3 on In2.Cu from add_planes.py) have no fill in the file and the+shared `service-kicad pcb drc` does not refill zones, so by default this script also writes a+raster fill for every zone: overlapping 0.1 mm strips covering the outline (0.5 mm edge clearance)+minus every other-net through pad, via and hole expanded by the 0.2 mm clearance and the grid+slop. KiCad's own fill on the live board replaces it (thermal reliefs and all); here it lets the+DRC count each plane-net via as connected. --no-fill-planes leaves the zones unfilled.++--drc runs `service-kicad pcb drc` on the written file and prints errors, warnings, unconnected+items and the violation types. With --baseline, errors already present on the unrouted board+(same type, description and item positions) are listed separately as inherited, the way the+bridge's route_net compares before/after; the gate is zero NEW errors and zero unconnected.+"""+import argparse+import json+import math+import os+import subprocess+import sys+import tempfile+import uuid+from collections import Counter+from pathlib import Path++import numpy as np++sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))+from escboard import Board, Grid, fmt # noqa: E402++CLEARANCE = 0.2+EDGE_CLEARANCE = 0.5+SLOP = 0.1+++# ----------------------------------------------------------------------------- plan -> copper++def _point(spec, board):+ """(x, y, pad, explicit_layer) for one waypoint, matching pcb.rs resolve_point."""+ layer = None+ pad = None+ if isinstance(spec, str):+ pad = board.pad_by_key(spec)+ if pad is None:+ raise ValueError("unknown pad %r" % spec)+ return pad.x, pad.y, pad, None+ if isinstance(spec, dict):+ layer = spec.get("layer")+ if spec.get("pad"):+ pad = board.pad_by_key(str(spec["pad"]))+ if pad is None:+ raise ValueError("unknown pad %r" % spec["pad"])+ return pad.x, pad.y, pad, layer+ return float(spec["x"]), float(spec["y"]), None, layer+ if isinstance(spec, (list, tuple)) and len(spec) == 2:+ return float(spec[0]), float(spec[1]), None, None+ raise ValueError("bad waypoint %r" % (spec,))+++def plan_to_copper(board, entry):+ """One plan entry -> (segments, vias): segments (x0,y0,x1,y1,layer,width), vias (x,y,size,drill)."""+ net = entry["net"]+ if net not in board.nets:+ raise ValueError("unknown net %r" % net)+ width = float(entry.get("width", 0.25))+ size = float(entry.get("viaSize", 0.6))+ drill = float(entry.get("viaDrill", 0.3))+ paths = entry.get("paths") or [entry["points"]]+ segments, vias = [], []+ for path in paths:+ if not 2 <= len(path) <= 512:+ raise ValueError("path needs 2..512 waypoints (%s)" % net)+ resolved = [_point(p, board) for p in path]+ for x, y, pad, _ in resolved:+ if pad is not None and pad.net != net:+ raise ValueError("pad %s is on %s, not %s" % (pad.key, pad.net, net))+ layer = entry.get("layer") or resolved[0][3] or "F.Cu"+ for i, (x, y, pad, explicit) in enumerate(resolved):+ nxt = explicit or layer+ if i > 0:+ px, py = resolved[i - 1][0], resolved[i - 1][1]+ if (px, py) != (x, y):+ segments.append((px, py, x, y, layer, width))+ if nxt != layer:+ vias.append((x, y, size, drill))+ layer = nxt+ if pad is not None and layer not in pad.layers:+ raise ValueError("pad %s has no copper on %s" % (pad.key, layer))+ return segments, vias+++def segment_sexpr(board, s, net):+ x0, y0, x1, y1, layer, w = s+ return ("\t(segment\n\t\t(start %s %s)\n\t\t(end %s %s)\n\t\t(width %s)\n\t\t(layer \"%s\")\n%s\t\t(uuid \"%s\")\n\t)"+ % (fmt(x0), fmt(y0), fmt(x1), fmt(y1), fmt(w), layer, board.net_ref_sexpr(net), uuid.uuid4()))+++def via_sexpr(board, v, net):+ x, y, size, drill = v+ return ("\t(via\n\t\t(at %s %s)\n\t\t(size %s)\n\t\t(drill %s)\n\t\t(layers \"F.Cu\" \"B.Cu\")\n%s\t\t(uuid \"%s\")\n\t)"+ % (fmt(x), fmt(y), fmt(size), fmt(drill), board.net_ref_sexpr(net), uuid.uuid4()))+++def splice(text, blocks):+ trimmed = text.rstrip()+ idx = trimmed.rfind(")")+ body = text[:idx].rstrip()+ nl = "\r\n" if "\r\n" in text[:2000] else "\n"+ return body + nl + nl.join(b.replace("\n", nl) for b in blocks) + nl + ")" + nl+++# ----------------------------------------------------------------------------- plane raster fill++def zone_fill_polygons(board, zone_net, zone_layer, all_vias_by_net, grid=None):+ """ONE fractured polygon per connected region of the plane (KiCad's own fill format: the outer+ contour with every hole spliced in through a zero-width slit). KiCad does not connect+ overlapping sub-polygons of one zone to each other, so a fill made of strips would be a set+ of islands; a single polygon is one island the way a real fill is.++ all_vias_by_net: {net: [(x, y, size, drill), ...]} for every via the plan adds."""+ grid = grid or Grid(board.bbox)+ free = grid.outline_inside(board.outline, EDGE_CLEARANCE + SLOP)+ block = np.zeros((grid.H, grid.W), dtype=bool)+ by_clearance = {} # pads with a local clearance override are dilated by their own value+ for p in board.pads:+ if not p.thru or p.net == zone_net:+ continue+ target = block if p.clearance <= CLEARANCE else by_clearance.setdefault(p.clearance, np.zeros((grid.H, grid.W), dtype=bool))+ for poly in p.polys:+ grid.poly_mask(poly, target)+ if p.drill:+ jj, ii = grid.disk_cells((p.x, p.y), p.drill / 2.0)+ target[jj, ii] = True+ for net, vias in all_vias_by_net.items():+ if net == zone_net:+ continue+ for x, y, size, drill in vias:+ jj, ii = grid.disk_cells((x, y), size / 2.0)+ block[jj, ii] = True+ block = grid.dilate(block, (CLEARANCE + SLOP) / grid.res)+ for clr, mask in by_clearance.items():+ block |= grid.dilate(mask, (clr + SLOP) / grid.res)+ free &= ~block+ loops = _trace_boundaries(free)+ outers = [lp for lp in loops if _signed_area(lp) > 0]+ holes = [lp for lp in loops if _signed_area(lp) < 0]+ polys = []+ for outer in outers:+ ob = _bbox(outer)+ mine = []+ for h in holes:+ hb = _bbox(h)+ if hb[0] < ob[0] or hb[1] < ob[1] or hb[2] > ob[2] or hb[3] > ob[3]:+ continue+ if _point_in_poly(h[0][0] + 1e-6, h[0][1] + 1e-6, outer):+ mine.append(h)+ poly = _fracture(outer, mine)+ polys.append([(grid.x0 + x * grid.res, grid.y0 + y * grid.res) for x, y in poly])+ return polys+++def _trace_boundaries(free):+ """Boundary loops of a binary raster as lattice polygons (cell-corner coordinates, in cells).+ Region on the right of the direction of travel; outer loops and holes get opposite signed areas."""+ H, W = free.shape+ padded = np.zeros((H + 2, W + 2), dtype=bool)+ padded[1:-1, 1:-1] = free+ f = padded+ # directed edges around free cells whose neighbour across that side is not free+ edges = []+ jj, ii = np.nonzero(f[1:-1, 1:-1] & ~f[0:-2, 1:-1]) # top side: TL -> TR+ edges += [((i - 0.5, j - 0.5), (i + 0.5, j - 0.5)) for j, i in zip(jj.tolist(), ii.tolist())]+ jj, ii = np.nonzero(f[1:-1, 1:-1] & ~f[1:-1, 2:]) # right side: TR -> BR+ edges += [((i + 0.5, j - 0.5), (i + 0.5, j + 0.5)) for j, i in zip(jj.tolist(), ii.tolist())]+ jj, ii = np.nonzero(f[1:-1, 1:-1] & ~f[2:, 1:-1]) # bottom side: BR -> BL+ edges += [((i + 0.5, j + 0.5), (i - 0.5, j + 0.5)) for j, i in zip(jj.tolist(), ii.tolist())]+ jj, ii = np.nonzero(f[1:-1, 1:-1] & ~f[1:-1, 0:-2]) # left side: BL -> TL+ edges += [((i - 0.5, j + 0.5), (i - 0.5, j - 0.5)) for j, i in zip(jj.tolist(), ii.tolist())]+ out = {}+ for a, b in edges:+ out.setdefault(a, []).append(b)+ loops = []+ while out:+ a = next(iter(out))+ b = out[a].pop()+ if not out[a]:+ del out[a]+ loop = [a, b]+ prev = (b[0] - a[0], b[1] - a[1])+ while True:+ cur = loop[-1]+ cands = out.get(cur)+ if not cands:+ break+ if len(cands) == 1:+ nxt = cands.pop()+ else:+ # a pinch point: prefer the right turn (toward the region), then straight, then left+ right = (-prev[1], prev[0])+ pick = None+ for want in (right, prev, (prev[1], -prev[0])):+ for c in cands:+ if (c[0] - cur[0], c[1] - cur[1]) == want:+ pick = c+ break+ if pick is not None:+ break+ nxt = pick if pick is not None else cands[-1]+ cands.remove(nxt)+ if not cands:+ del out[cur]+ prev = (nxt[0] - cur[0], nxt[1] - cur[1])+ if nxt == loop[0]:+ break+ loop.append(nxt)+ # drop collinear vertices+ simp = []+ n = len(loop)+ for k in range(n):+ p0, p1, p2 = loop[k - 1], loop[k], loop[(k + 1) % n]+ if (p1[0] - p0[0]) * (p2[1] - p1[1]) - (p1[1] - p0[1]) * (p2[0] - p1[0]) != 0:+ simp.append(p1)+ if len(simp) >= 4:+ loops.append(simp)+ return loops+++def _signed_area(poly):+ a = 0.0+ for k in range(len(poly)):+ x0, y0 = poly[k]+ x1, y1 = poly[(k + 1) % len(poly)]+ a += x0 * y1 - x1 * y0+ return a / 2.0+++def _bbox(poly):+ xs = [p[0] for p in poly]+ ys = [p[1] for p in poly]+ return min(xs), min(ys), max(xs), max(ys)+++def _point_in_poly(x, y, poly):+ inside = False+ n = len(poly)+ for k in range(n):+ ax, ay = poly[k]+ bx, by = poly[(k + 1) % n]+ if (ay > y) != (by > y):+ if x < ax + (y - ay) * (bx - ax) / (by - ay):+ inside = not inside+ return inside+++def _fracture(outer, holes):+ """Splice every hole into the outer contour through a horizontal zero-width slit to the left,+ holes in order of their left edge so a slit only ever meets contour that is already part of+ the polygon. The slit leaves the hole from the middle of its leftmost vertical edge, so it never+ hits a lattice vertex."""+ poly = list(outer)++ def leftmost_edge(h):+ best = None+ n = len(h)+ for k in range(n):+ a, b = h[k], h[(k + 1) % n]+ if a[0] == b[0] and (best is None or a[0] < best[0]):+ best = (a[0], k)+ return best++ order = sorted(range(len(holes)), key=lambda k: leftmost_edge(holes[k])[0])+ for hk in order:+ h = holes[hk]+ x_h, k = leftmost_edge(h)+ a, b = h[k], h[(k + 1) % len(h)]+ ym = (a[1] + b[1]) / 2.0+ if abs(b[1] - a[1]) >= 2:+ ym = a[1] + (0.5 if b[1] > a[1] else -0.5) # a whole cell from the vertex: never a lattice vertex+ start = (x_h, ym)+ # hole contour starting at the slit point+ hole = [start] + h[k + 1:] + h[:k + 1] + [start]+ # nearest vertical edge of the polygon to the left of the slit point at height ym+ hit = None+ for e in range(len(poly)):+ p0, p1 = poly[e], poly[(e + 1) % len(poly)]+ if p0[0] == p1[0] and p0[0] < x_h and min(p0[1], p1[1]) < ym < max(p0[1], p1[1]):+ if hit is None or p0[0] > hit[0]:+ hit = (p0[0], e)+ if hit is None:+ continue # nothing to the left inside this outer: leave the hole out (cannot happen for a hole)+ xe, e = hit+ joint = (xe, ym)+ poly = poly[:e + 1] + [joint] + hole + [joint] + poly[e + 1:]+ return poly+++def zones_of(board):+ """[(node, net, layer)] for every top-level zone."""+ out = []+ for z in board.root.find_all("zone"):+ n = z.find("net")+ net = n.value() if n is not None else ""+ if board.net_format == "number" and n is not None:+ try:+ net = board.net_table.get(int(n.atom(1)), net)+ except (TypeError, ValueError):+ pass+ nn = z.find("net_name")+ if nn is not None:+ net = nn.value()+ layer = z.find("layer").value() if z.find("layer") is not None else None+ out.append((z, net, layer))+ return out+++def fill_zones(board, text, vias_by_net):+ """Return the board text with a filled_polygon list appended inside every zone."""+ grid = Grid(board.bbox)+ edits = []+ stats = {}+ for node, net, layer in zones_of(board):+ if not net or not layer:+ continue+ polys = zone_fill_polygons(board, net, layer, vias_by_net, grid)+ blocks = []+ for poly in polys:+ pts = " ".join("(xy %s %s)" % (fmt(x), fmt(y)) for x, y in poly)+ blocks.append("\t\t(filled_polygon\n\t\t\t(layer \"%s\")\n\t\t\t(pts\n\t\t\t\t%s\n\t\t\t)\n\t\t)\n" % (layer, pts))+ # insert before the zone's closing paren+ edits.append((node.end - 1, node.end - 1, "".join(blocks) + "\t"))+ # a raster fill has no thermal spokes: connect pads solidly in this gate copy so the DRC+ # does not report starved thermals on the through pads inside the plane+ cp = node.find("connect_pads")+ if cp is not None and cp.atom(1) not in ("yes", "no", "thru_hole_only"):+ edits.append((cp.start, cp.start + len("(connect_pads"), "(connect_pads yes"))+ stats[net] = len(polys)+ edits.sort()+ out = []+ pos = 0+ for at, end, ins in edits:+ out.append(text[pos:at])+ out.append(ins)+ pos = end+ out.append(text[pos:])+ return "".join(out), stats+++# ----------------------------------------------------------------------------- DRC++def run_drc(path):+ with tempfile.TemporaryDirectory() as tmp:+ report = Path(tmp) / "drc.json"+ proc = subprocess.run(["service-kicad", "pcb", "drc", "--format", "json", "--out", str(report), str(path)],+ capture_output=True, text=True, timeout=900)+ if proc.returncode or not report.is_file():+ raise RuntimeError("service-kicad drc failed: %s %s" % (proc.stdout[-600:], proc.stderr[-600:]))+ return json.loads(report.read_text(encoding="utf-8"))+++def fingerprint(v):+ return json.dumps([v.get("type"), v.get("severity"), v.get("description"),+ sorted(json.dumps(i.get("pos"), sort_keys=True) for i in v.get("items", []))], sort_keys=True)+++def summarize(data, baseline=None):+ viol = data.get("violations", [])+ errors = [v for v in viol if v.get("severity") == "error"]+ warnings = [v for v in viol if v.get("severity") == "warning"]+ inherited = []+ new = errors+ if baseline is not None:+ existing = Counter(fingerprint(v) for v in baseline.get("violations", []) if v.get("severity") == "error")+ new, inherited = [], []+ for v in errors:+ k = fingerprint(v)+ if existing.get(k, 0) > 0:+ existing[k] -= 1+ inherited.append(v)+ else:+ new.append(v)+ unconnected = data.get("unconnected_items", [])+ # isolated_copper warnings on a raster-filled plane are the strips themselves (each filled+ # polygon that touches no pad is an "island" to KiCad); the live fill has none of them+ fill_artifacts = [v for v in warnings if v.get("type") == "isolated_copper"]+ warnings = [v for v in warnings if v.get("type") != "isolated_copper"]+ return {+ "errors": len(errors), "newErrors": len(new), "inheritedErrors": len(inherited),+ "warnings": len(warnings), "unconnected": len(unconnected),+ "rasterFillIslandWarnings": len(fill_artifacts),+ "errorTypes": dict(Counter(v.get("type") for v in errors)),+ "newErrorTypes": dict(Counter(v.get("type") for v in new)),+ "warningTypes": dict(Counter(v.get("type") for v in warnings)),+ "newErrorList": [{"type": v.get("type"), "description": v.get("description"),+ "items": [i.get("description") for i in v.get("items", [])],+ "pos": [i.get("pos") for i in v.get("items", [])]} for v in new],+ "unconnectedList": [[i.get("description") for i in u.get("items", [])] for u in unconnected],+ "kicadVersion": data.get("kicad_version"),+ }+++# ----------------------------------------------------------------------------- main++def apply(board, plan, fill_planes=True):+ """Return (text, stats) for the board text with the plan's copper (and optional fills)."""+ entries = plan["nets"] if isinstance(plan, dict) else plan+ blocks = []+ vias_by_net = {}+ n_seg = n_via = 0+ length = 0.0+ widths = Counter()+ for entry in entries:+ segs, vias = plan_to_copper(board, entry)+ for s in segs:+ blocks.append(segment_sexpr(board, s, entry["net"]))+ length += math.hypot(s[2] - s[0], s[3] - s[1])+ widths[s[5]] += 1+ for v in vias:+ blocks.append(via_sexpr(board, v, entry["net"]))+ vias_by_net.setdefault(entry["net"], []).append(v)+ n_seg += len(segs)+ n_via += len(vias)+ text = splice(board.text, blocks)+ stats = {"entries": len(entries), "nets": len({e["net"] for e in entries}), "segments": n_seg, "vias": n_via,+ "copperLengthMm": round(length, 2), "segmentsByWidth": {str(k): v for k, v in sorted(widths.items())}}+ if fill_planes:+ text, fills = fill_zones(board, text, vias_by_net)+ stats["zoneFillPolygons"] = fills+ return text, stats+++def main(argv=None):+ ap = argparse.ArgumentParser(description=__doc__.split("\n\n")[0])+ ap.add_argument("board", help="the board WITH planes (add_planes.py output)")+ ap.add_argument("plan", help="ai_router.py plan JSON")+ ap.add_argument("--out", help="output .kicad_pcb (default: <plan>-routed.kicad_pcb beside the plan)")+ ap.add_argument("--no-fill-planes", action="store_true")+ ap.add_argument("--drc", action="store_true")+ ap.add_argument("--baseline", help="unrouted board whose DRC errors are inherited (default: the input board)")+ ap.add_argument("--report", help="write the DRC summary JSON here")+ a = ap.parse_args(argv)+ board = Board(a.board)+ plan = json.load(open(a.plan, encoding="utf-8"))+ text, stats = apply(board, plan, fill_planes=not a.no_fill_planes)+ out = Path(a.out) if a.out else Path(a.plan).with_name(Path(a.plan).stem + "-routed.kicad_pcb")+ out.write_text(text, encoding="utf-8", newline="")+ Board(str(out))+ print("%s: %s" % (out, json.dumps(stats)))+ if a.drc:+ base = run_drc(a.baseline or a.board)+ data = run_drc(out)+ s = summarize(data, base)+ s["copper"] = stats+ s["file"] = str(out)+ print("drc: %d errors (%d new, %d inherited), %d warnings (+%d raster-fill island warnings), %d unconnected; new error types %s; warning types %s; KiCad %s" % (+ s["errors"], s["newErrors"], s["inheritedErrors"], s["warnings"], s["rasterFillIslandWarnings"], s["unconnected"],+ json.dumps(s["newErrorTypes"], sort_keys=True), json.dumps(s["warningTypes"], sort_keys=True), s["kicadVersion"]))+ for v in s["newErrorList"][:40]:+ print(" NEW %s: %s %s" % (v["type"], v["description"], v["items"]))+ for u in s["unconnectedList"][:40]:+ print(" UNCONNECTED %s" % (u,))+ if a.report:+ Path(a.report).write_text(json.dumps(s, indent=1) + "\n", encoding="utf-8")+ return 0 if (s["newErrors"] == 0 and s["unconnected"] == 0) else 2+ return 0+++if __name__ == "__main__":+ sys.exit(main())
tools/add_planes.pyadded+122@@ -0,0 +1,122 @@+#!/usr/bin/env python3+"""Add full-outline copper planes to a copy of a KiCad 10 board.++ python3 tools/add_planes.py BOARD.kicad_pcb [--out FILE] [--plane GND:In1.Cu] [--plane +3V3:In2.Cu]+ [--clearance 0.2] [--min-thickness 0.25] [--drc]++Default planes: GND on In1.Cu and +3V3 on In2.Cu. Each plane is one zone whose polygon is the+Edge.Cuts outline (lines as they are, arcs sampled to short chords), thermal-relief pad+connection with the given clearance, priority 0 (KiCad's default, so the line is not written),+fill enabled, `(filled_areas_thickness no)` and NO filled_polygon: KiCad fills it on load or+when a DRC refills zones. The net is written the way this board writes nets: KiCad 10 boards+carry `(net "NAME")` on every pad and no net table, so the zone gets `(net "NAME")`; a board+with a `(net N "NAME")` table gets `(net N)` plus `(net_name "NAME")`.++The zones are spliced in before the closing paren; every other byte of the file is untouched.+--drc runs `service-kicad pcb drc` (the shared headless KiCad, which refills zones) on the+output and prints the error, warning and unconnected counts.+"""+import argparse+import json+import os+import subprocess+import sys+import tempfile+import uuid+from pathlib import Path++sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))+sys.path.insert(0, os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "demo", "routing", "esc"))+from make_placement_fixture import num # noqa: E402+from escboard import Board, polygon_area # noqa: E402+++def zone_sexpr(board, net_name, layer, outline, clearance, min_thickness):+ if board.net_format == "number":+ number = next((n for n, name in board.net_table.items() if name == net_name), None)+ if number is None:+ raise KeyError("net %r is not in the net table" % net_name)+ net_lines = "\t\t(net %d)\n\t\t(net_name \"%s\")\n" % (number, net_name.replace('"', '\\"'))+ else:+ net_lines = board.net_ref_sexpr(net_name)+ pts = " ".join("(xy %s %s)" % (num(x), num(y)) for x, y in outline)+ return (+ "\t(zone\n"+ + net_lines+ + "\t\t(layer \"%s\")\n" % layer+ + "\t\t(uuid \"%s\")\n" % uuid.uuid4()+ + "\t\t(name \"%s plane\")\n" % net_name.replace('"', '\\"')+ + "\t\t(hatch edge 0.5)\n"+ + "\t\t(connect_pads\n\t\t\t(clearance %s)\n\t\t)\n" % num(clearance)+ + "\t\t(min_thickness %s)\n" % num(min_thickness)+ + "\t\t(filled_areas_thickness no)\n"+ + "\t\t(fill yes\n\t\t\t(thermal_gap 0.5)\n\t\t\t(thermal_bridge_width 0.5)\n\t\t)\n"+ + "\t\t(polygon\n\t\t\t(pts\n\t\t\t\t%s\n\t\t\t)\n\t\t)\n" % pts+ + "\t)"+ )+++def splice(text, blocks):+ """Insert blocks before the closing paren of the kicad_pcb list, like the bridge's pcb::splice."""+ trimmed = text.rstrip()+ idx = trimmed.rfind(")")+ body = text[:idx].rstrip()+ nl = "\r\n" if "\r\n" in text[:2000] else "\n"+ out = body + nl + nl.join(b.replace("\n", nl) for b in blocks) + nl + ")" + nl+ return out+++def run_drc(path):+ """service-kicad pcb drc as JSON: (errors, warnings, unconnected, report dict)."""+ with tempfile.TemporaryDirectory() as tmp:+ report = Path(tmp) / "drc.json"+ proc = subprocess.run(["service-kicad", "pcb", "drc", "--format", "json", "--out", str(report), str(path)],+ capture_output=True, text=True, timeout=600)+ if proc.returncode or not report.is_file():+ raise RuntimeError("service-kicad drc failed: %s %s" % (proc.stdout[-400:], proc.stderr[-400:]))+ data = json.loads(report.read_text(encoding="utf-8"))+ viol = data.get("violations", [])+ errors = sum(1 for v in viol if v.get("severity") == "error")+ warnings = sum(1 for v in viol if v.get("severity") == "warning")+ return errors, warnings, len(data.get("unconnected_items", [])), data+++def main(argv=None):+ ap = argparse.ArgumentParser(description=__doc__.split("\n\n")[0])+ ap.add_argument("board")+ ap.add_argument("--out", help="output path (default: <board>-planes.kicad_pcb beside the input)")+ ap.add_argument("--plane", action="append", help="NET:LAYER, repeatable (default GND:In1.Cu and +3V3:In2.Cu)")+ ap.add_argument("--clearance", type=float, default=0.2)+ ap.add_argument("--min-thickness", type=float, default=0.25)+ ap.add_argument("--drc", action="store_true", help="run service-kicad pcb drc on the output and print the counts")+ a = ap.parse_args(argv)+ planes = [p.split(":", 1) for p in (a.plane or ["GND:In1.Cu", "+3V3:In2.Cu"])]+ src = Path(a.board)+ board = Board(str(src))+ for net, layer in planes:+ if net not in board.nets:+ raise SystemExit("net %r has no pads on this board" % net)+ if layer not in board.copper_layers:+ raise SystemExit("layer %r is not a copper layer of this board (%s)" % (layer, board.copper_layers))+ outline = list(board.outline)+ if polygon_area(outline) < 0:+ outline.reverse()+ blocks = [zone_sexpr(board, net, layer, outline, a.clearance, a.min_thickness) for net, layer in planes]+ out = Path(a.out) if a.out else src.with_name(src.name[: -len(".kicad_pcb")] + "-planes.kicad_pcb")+ text = splice(board.text, blocks)+ out.write_text(text, encoding="utf-8", newline="")+ Board(str(out)) # must still parse as one balanced document+ print("%s: %d zones (%s), %d outline points, net format %s, %d bytes" % (+ out, len(planes), ", ".join("%s on %s" % (n, l) for n, l in planes), len(outline), board.net_format, len(text.encode("utf-8"))))+ if a.drc:+ errors, warnings, unconnected, data = run_drc(out)+ by_type = {}+ for v in data.get("violations", []):+ by_type[v.get("type")] = by_type.get(v.get("type"), 0) + 1+ print("drc: %d errors, %d warnings, %d unconnected items; by type %s (KiCad %s)" % (+ errors, warnings, unconnected, json.dumps(by_type, sort_keys=True), data.get("kicad_version")))+ return 0+++if __name__ == "__main__":+ sys.exit(main())