diff --git a/README.md b/README.md
index 3cb92290018047319ace1e27c8dbc74e263f2085..c2a5605baea2050b54ca5c36170c28bc122c622c 100644
--- a/README.md
+++ b/README.md
@@ -9,7 +9,10 @@
- 3. Offset original path based on given width
- 4. find intersect between paths with offset and angle bisectors
- 5. connect intersect points and 4 end-points
--
+
+- Separate file `paperbot_draw` to a general useful file `roco_ee_dwg_processing.py` and operations specifically for paperbot `paperbot_draw.py`
+ - functions and classes in `roco_ee_dwg_processing.py` will be useful for future foldable robot project.
+
### 08/09/2019
- Potential problem:
diff --git a/paperbot_ee_autoroute/__pycache__/paperbot_draw.cpython-36.pyc b/paperbot_ee_autoroute/__pycache__/paperbot_draw.cpython-36.pyc
index 5d7a6291f4b167c9ce2b62597dc32a8dfe7c9259..5a079a0f65bd77fc2378e2165cb2526a0871b0f2 100644
Binary files a/paperbot_ee_autoroute/__pycache__/paperbot_draw.cpython-36.pyc and b/paperbot_ee_autoroute/__pycache__/paperbot_draw.cpython-36.pyc differ
diff --git a/paperbot_ee_autoroute/fab_drawing.py b/paperbot_ee_autoroute/fab_drawing.py
index 09e4b83e47057342cae98ea16d002c47c0f018a5..bd6428217d31767c1866593de67b407d90041520 100644
--- a/paperbot_ee_autoroute/fab_drawing.py
+++ b/paperbot_ee_autoroute/fab_drawing.py
@@ -23,6 +23,7 @@ import sys
import subprocess
sys.path.insert(1,dsnwritier_dir)
from sesreader import *
+from roco_ee_dwg_processing import *
#########for paperbot only########
import paperbot_dsn
@@ -33,4 +34,4 @@ paperbot_dsn.brd_design(dwg_path,0,module_libpath,save_name)
unrouted_dsn_file=save_name+'.dsn'
subprocess.call(['java','-jar','freeRouting.jar','-de',unrouted_dsn_file,'-white','-s'])
wiring_path=find_wire(save_name)
-paperbot_draw.post_process(dwg_path,wiring_path)
+post_process(dwg_path,wiring_path)
diff --git a/paperbot_ee_autoroute/paperbot_draw.py b/paperbot_ee_autoroute/paperbot_draw.py
index cdfc16813922022a589c4069b1c79772096e9088..7a1ec41216215415ea5abc4d820667e834d2f863 100644
--- a/paperbot_ee_autoroute/paperbot_draw.py
+++ b/paperbot_ee_autoroute/paperbot_draw.py
@@ -4,6 +4,7 @@ import ezdxf
import random
from math import sqrt
import copy
+from roco_ee_dwg_processing import *
unit_convert=10000 #ses to dxf
class pre_process():
@@ -24,7 +25,7 @@ class pre_process():
self.remove_wheels() ##remove wheel drawings for this design, no need to call for other designs
self.center_arr=self.find_pin()
- self.cross_cut(2,self.center_arr)
+ cross_cut(self.msp,2,self.center_arr)
self.dwg.saveas(self.save_name)
@@ -73,135 +74,3 @@ class pre_process():
center_arr=np.unique(center_arr,axis=0)
center_arr=center_arr[1:]
return center_arr
-
- def cross_cut(self,cross_size,pin_loc):
- """
- cross_size= lenght of bounding box of the cross cut
- """
- tipat=cross_size/2
- for pt in pin_loc:
- x=pt[0]
- y=pt[1]
- cross_s1=(x-tipat,y-tipat)
- cross_e1=(x+tipat,y+tipat)
- cross_s2=(x-tipat,y+tipat)
- cross_e2=(x+tipat,y-tipat)
- self.msp.add_line(cross_s1,cross_e1,dxfattribs={'linetype':'DASHDOT', 'layer':'Circuit'})
- self.msp.add_line(cross_s2,cross_e2,dxfattribs={'linetype':'DASHDOT', 'layer':'Circuit'})
-
- # def line_to_path(self)
-
-
-class post_process():
- def __init__(self,dxf_file,wiring_path):
- if not dxf_file.endswith('.dxf'):
- dxf_file+='.dxf'
- self.dxf_file=dxf_file
- self._wiring=wiring_path
- self.wiring=[]
- self.dwg=ezdxf.readfile(dxf_file)
- self.msp=self.dwg.modelspace()
-
- self.convert_unit()
- self.draw_wires()
- self.parallel_trace(1)
-
- self.dwg.saveas('route_text.dxf')
-
- def convert_unit(self):
- for path in self._wiring:
- p=np.array(path)/unit_convert
- p[:,1]*=-1
- self.wiring.append(p.tolist())
- def draw_wires(self):
- for path in self.wiring:
- for i in range(len(path)-1):
- self.msp.add_line(path[i],path[i+1],dxfattribs={
- 'layer':'Circuit',
- 'linetype':'DASHDOT'})
- def find_lind_eq(self,pt1,pt2):
- """
- input: two points on a line
- pt1:[x1,y1]
- pt2:[x2,y2]
- return: a,b,theta in terms of cy=ax+b
- """
- x1,y1=pt1[0],pt1[1]
- x2,y2=pt2[1],pt2[1]
-
- if x1==x2:
- theta=-np.pi/2
- #x= number
- a=1
- b=-x1
- c=0
- else:
- theta=np.arctan((y2-y1)/(x2-x1))
- A=np.array([[x1,1],[x2,1]])
- k=np.array([y1,y2])
- sol=np.linalg.solve(A,k)
- a,b=sol[0],sol[1]
- c=1
- return a,b,c,theta
-
-
- def parallel_trace(self,width):
- halfw=width/2
- for path in self.wiring:
- for i in range(len(path)-1):
- start_x,start_y=path[i][0],path[i][1]
- end_x,end_y=path[i+1][0],path[i+1][1]
-
- theta=self.find_lind_eq(path[i],path[i+1])[3]
- sinw=np.sin(theta)*halfw
- cosw=np.cos(theta)*halfw
- s1i=[start_x-sinw,start_y+cosw]
- s1o=[start_x+sinw,start_y-cosw]
- e1i=[end_x-sinw,end_y+cosw]
- e1o=[end_x+sinw,end_y-cosw]
-
- line1i=self.find_lind_eq(s1i,e1i)
- line1o=self.find_lind_eq(s1o,e1o)
-
- if i==0:
- s1=s1i
- s2=s1o
- else:
- s1=e1
- s2=e2
-
- if i<len(path)-2:
- next_x,next_y=path[i+2][0],path[i+2][1]
- theta2=self.find_lind_eq(path[i+1],path[i+2])[3]
-
- sinw2=np.sin(theta2)*halfw
- cosw2=np.cos(theta2)*halfw
-
- s2i=[end_x-sinw2,end_y+cosw2]
- s2o=[end_x+sinw2,end_y-cosw2]
- e2i=[next_x-sinw2,next_y+cosw2]
- e2o=[next_x+sinw2,next_y-cosw2]
-
- line2i=self.find_lind_eq(s2i,e2i)
- line2o=self.find_lind_eq(s2o,e2o)
-
- Ainteri=np.array([[line1i[0],-line1i[2]],[line2i[0],-line2i[2]]])
- binteri=np.array([-line1i[1],-line2i[1]])
- Aintero=np.array([[line1o[0],-line1o[2]],[line2o[0],-line2o[2]]])
- bintero=np.array([-line1o[1],-line2o[1]])
-
- e1=np.linalg.solve(Ainteri,binteri)
- e2=np.linalg.solve(Aintero,bintero)
-
- else:
- #from last end point to this end
- e1=[end_x-sinw,end_y+cosw]
- e2=[end_x+sinw,end_y-cosw]
-
-
- self.msp.add_line(s1i,e1i,dxfattribs={
- 'layer':'Circuit',
- 'linetype':'DASHDOT'})
- self.msp.add_line(s1o,e1o,dxfattribs={
- 'layer':'Circuit',
- 'linetype':'DASHDOT'})
diff --git a/paperbot_ee_autoroute/roco_ee_dwg_processing.py b/paperbot_ee_autoroute/roco_ee_dwg_processing.py
new file mode 100644
index 0000000000000000000000000000000000000000..761b58d9a7a578655be1f1fa1e28776da91528d2
--- /dev/null
+++ b/paperbot_ee_autoroute/roco_ee_dwg_processing.py
@@ -0,0 +1,153 @@
+#!/usr/bin/env python3
+
+import numpy as np
+import ezdxf
+import random
+from math import sqrt
+import copy
+unit_convert=10000 #ses to dxf
+
+
+def cross_cut(msp,cross_size,pin_loc):
+ """
+ cross_size= lenght of bounding box of the cross cut
+ """
+ tipat=cross_size/2
+ for pt in pin_loc:
+ x=pt[0]
+ y=pt[1]
+ cross_s1=(x-tipat,y-tipat)
+ cross_e1=(x+tipat,y+tipat)
+ cross_s2=(x-tipat,y+tipat)
+ cross_e2=(x+tipat,y-tipat)
+ msp.add_line(cross_s1,cross_e1,dxfattribs={'linetype':'DASHDOT', 'layer':'Circuit'})
+ msp.add_line(cross_s2,cross_e2,dxfattribs={'linetype':'DASHDOT', 'layer':'Circuit'})
+
+# def line_to_path()
+
+class post_process():
+ def __init__(self,dxf_file,wiring_path):
+ if not dxf_file.endswith('.dxf'):
+ dxf_file+='.dxf'
+ self.dxf_file=dxf_file
+ self._wiring=wiring_path
+ self.wiring=[]
+ self.dwg=ezdxf.readfile(dxf_file)
+ self.msp=self.dwg.modelspace()
+
+ self.convert_unitfrom_ses()
+ # self.draw_wires()
+ self.parallel_trace(1)
+
+ self.dwg.saveas('route_text.dxf')
+
+ def convert_unitfrom_ses(self):
+ for path in self._wiring:
+ p=np.array(path)/unit_convert
+ p[:,1]*=-1
+ self.wiring.append(p.tolist())
+ def draw_wires(self):
+ for path in self.wiring:
+ for i in range(len(path)-1):
+ self.msp.add_line(path[i],path[i+1],dxfattribs={
+ 'layer':'Circuit',
+ 'linetype':'DASHDOT'})
+
+ def parallel_trace(self,width):
+ halfw=width/2
+ for path in self.wiring:
+ for i in range(len(path)-1):
+ start_x,start_y=path[i][0],path[i][1]
+ end_x,end_y=path[i+1][0],path[i+1][1]
+
+ theta=self.find_lind_eq(path[i],path[i+1])[3]
+ sinw=np.sin(theta)*halfw
+ cosw=np.cos(theta)*halfw
+ s1i=[start_x-sinw,start_y+cosw]
+ s1o=[start_x+sinw,start_y-cosw]
+ e1i=[end_x-sinw,end_y+cosw]
+ e1o=[end_x+sinw,end_y-cosw]
+
+ line1i=self.find_lind_eq(s1i,e1i)
+ line1o=self.find_lind_eq(s1o,e1o)
+
+ if i==0:
+ s1=s1i
+ s2=s1o
+ else:
+ s1=e1
+ s2=e2
+
+ if i<len(path)-2:
+ next_x,next_y=path[i+2][0],path[i+2][1]
+ theta2=self.find_lind_eq(path[i+1],path[i+2])[3]
+
+ sinw2=np.sin(theta2)*halfw
+ cosw2=np.cos(theta2)*halfw
+
+ s2i=[end_x-sinw2,end_y+cosw2]
+ s2o=[end_x+sinw2,end_y-cosw2]
+ e2i=[next_x-sinw2,next_y+cosw2]
+ e2o=[next_x+sinw2,next_y-cosw2]
+
+ line2i=find_lind_eq(s2i,e2i)
+ line2o=find_lind_eq(s2o,e2o)
+
+ Ainteri=np.array([[line1i[0],-line1i[2]],[line2i[0],-line2i[2]]])
+ binteri=np.array([-line1i[1],-line2i[1]])
+ Aintero=np.array([[line1o[0],-line1o[2]],[line2o[0],-line2o[2]]])
+ bintero=np.array([-line1o[1],-line2o[1]])
+
+ e1=np.linalg.solve(Ainteri,binteri)
+ e2=np.linalg.solve(Aintero,bintero)
+
+ else:
+ #from last end point to this end
+ e1=[end_x-sinw,end_y+cosw]
+ e2=[end_x+sinw,end_y-cosw]
+
+
+ self.msp.add_line(s1i,e1i,dxfattribs={
+ 'layer':'Circuit',
+ 'linetype':'DASHDOT'})
+ self.msp.add_line(s1o,e1o,dxfattribs={
+ 'layer':'Circuit',
+ 'linetype':'DASHDOT'})
+
+def find_line_eq(pt1,pt2):
+ """
+ input: two points on a line
+ pt1:[x1,y1]
+ pt2:[x2,y2]
+ return: a,b,theta in terms of cy=ax+b
+ """
+
+ x1,y1=pt1[0],pt1[1]
+ x2,y2=pt2[0],pt2[1]
+ if x1>x2:
+ x1,y1=pt2[0],pt2[1]
+ x2,y2=pt1[0],pt1[1]
+
+ if x1==x2:
+ theta=-np.pi/2
+ #x= number
+ a=1
+ b=-x1
+ c=0
+ else:
+ theta=np.arctan((y2-y1)/(x2-x1))
+ A=np.array([[x1,1],[x2,1]])
+ k=np.array([y1,y2])
+ sol=np.linalg.solve(A,k)
+ a,b=sol[0],sol[1]
+ c=1
+
+ return a,b,c,theta
+
+def find_angle_bisector(line_eq1,line_eq2):
+ """
+ line_equation follows same pattern as find_line_eq()
+ eq=[a,b,c,theta]
+ which refers to cy=ax+b
+ """
+
\ No newline at end of file