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+*.erc
+*.log
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+### Jingyan Ling
+
+### 09/04/2019
+
+- Paper Outlines
+
+#### An Accessible way to rapidly build foldable robots from automatic electromechanical design
+
+#### I. Introduction (1)
+- 1. Robot functionality highly depends on electrical component it carries
+- 2. Personalized robot needs technical experience
+- 3. Work based on previous work of RoCo mechanical design
+- 4. Bullet points of contributions
+  
+#### II. Related Work (1-2)
+- 1. Roco mechanical design for foldable robot
+- 2. Freerouting software for auto-router
+  
+#### III. Design Strategies (2-5)
+- A. Design as a PCB
+- B. Mechanical drawing processing
+- C. Circuit pattern
+- D. Fabrication
+  
+#### IV. Result (5-6)
+- Pipeline of the system
+- Show results through each step in the pipeline
+- State time and cost
+
+#### V. Conclusion (6)
+- A. Contributions
+  - Accessible
+  - Fast
+- B. Future Work
+  - Stability
+  - Durability
+  
+#### *Contribution A (Design as a PCB)*
+`What` 
+- An integrated method to do PCB design from simple user input
+  
+`How` 
+- building `dsnwritter` python library
+  - module, footprint lib, wiring options...
+
+`Solves issue`  
+- 1. Experience of using PCB design software (KiCAD/EAGLE) is needed for typical PCB design; Causal user need time to learn software.
+- 2. Manually routing takes long time and requires technical experience
+
+`Why solving this issue`
+- 1. Electrical design is necessary for building a robot
+- 2. Having circuit on the surface of foldable robot instead of doing external wires makes it more accessible
+
+`For`
+- Accessible and fast
+  
+`Approve`
+- exported file (.dsn) can be viewed in Auto-router software directly (fig)
+- input table vs. output (fig)
+- Auto-router can read the file generated and proceed auto-routing (fig)
+  
+
+#### *Contribution B (Mechanical Drawing processing)*
+`What`
+- A module can take arbitrary 2D-mechanical design for automatic electrical design
+
+`How`
+- mechanical drawing pre-processing
+  - line stroked to path
+  - polylines provides continuous closed shape for lines
+
+`Solves issue`
+- Extra effort is needed for a complex CAD drawing to be recognized as electrical board outlines (provide example fig)
+
+`Why solving this issue`
+- Specific type and style of CAD drawings are required to use open-source auto-routing software
+- Learning specification and drawing software would waste time and effort of causal users
+  
+`For`
+- Accessible
+
+`Approve`
+- Show different line properties in inkscape between mechanical design and after pre-processing (fig)
+- Such shape can be viewed in Auto-router and routing treat drawings as obstacles properly (fig)
+
+  
+#### *Contribution C (Circuit Pattern)*
+`What`
+- A module generates fabrication file for materials based on electromechanical design
+
+`How`
+- Fabrication drawing post-process
+  - parse wiring information
+  - parallel traces/ isolation boundaries/ pin insertion
+
+`Solves issue`
+- Design of patterns of wiring is required based on material of foldable robot for proper electrical performance. It would need technical experience.
+
+`Why solving this issue`
+- Patterns are necessary to ensure there is no short or open circuit for circuit on the surface of robot
+- Change design of such pattern can consume a lot effort 
+
+`Approve` 
+- different circuit pattern can be output for materials (fig: direct wire vs parallel traces)
+- pic of direct wire fabrication by using conductive pen on paper
+- pic of showing isolation well for parallel trace pattern 
+- pic of showing pin insertion pattern can conducts well
+
+`For`
+- Accessible
+ 
+#### *Contribution D (Fabrication)*
+`What`
+- Foldable robot with functional electrical components on surface 
+  - A. Fabrication
+  - B. Result
+
+`How`
+- Describe fabrication process (pic/reference/experiment)
+
+`Solves Issue`
+- 1. A. Traditional printable circuit requires more cost/equipment/time (depends on reference search)
+- 2. B. Traditional PCB can not be folded to a robot
+- 3. B. Traditional PCB does not have arbitrary shape/holes inside
+  
+`Why solving this issue`
+- Traditional robot and PCB making takes a long time, special equipment and technical experience. 
+- While most of soft PCB are simple routing instead of taking complex mechanical design
+  
+`Approve`
+- circuit can work properly on folded surface (fig)
+- circuit can go around holes and working properly (fig)
+- pic of a foldable robot with circuit working
+- Time it takes to do the whole robot
+- Price of copper + plastic paper
+
+`For`
+- Low cost & Fast
+  
+
+### until 09/03/2019
+
+- Testing on physical prototype
+- Fabrication process
+- ![](journal_media/fab_process.png)
+- Result from cutter
+- ![](journal_media/fab_result.png)
+- Test before fully folding the robot
+- ![](journal_media/test_before_fullyfold.png)
+- Appearance after fully folded
+- ![](journal_media/fully_folded_paperbot.png)
+
+### 08/29/2019
+
+- Fixing issues:
+  - better performance with multiple wires connecting to single pin
+  - changed a lot details in `drawing_processing` script:
+    - `pop` for endpoints at each wire will be executed before parallel traces
+    - `pop` and whether the point is connected to a pin is based a rule more restricted so even the wire does not connect to a pin without 0, 90 or 45 degree, it will still pop correctly
+- Complete design for demo that has paperbot with an IMU, a touch sensor connecting to LED and Resistor
+- ![](journal_media/demo_design.png)
+
+- Fixing `inkscape` unit and scale issue:
+  - Save as svg
+  - Select every entities in the drawing
+  - Lock the width and height scale
+  - Times (90/96) to either height or width
+
+### 08/28/2019
+
+- Solving issue:
+  - The way mark pin as connected pin (solved)
+  - Changed way reading path
+  - Connect wire directly to pin after remove redundant small wires
+  - Group wires that has same connection point and same slop for branch drawing
+
+- ![](journal_media/issue_solved828.png)
+
+
+### 08/27/2019
+
+- Solving issue:
+  - multiple wires connecting to single pin
+    - Partially solved by
+      - Merge paths through pin as a single path in `sesreader`
+      - If such path passes a pin, mark this pin as connected pin (partially working, fix needed)
+      - Add a filter that remove intervals inside a path which is shorter than 0.5mm
+- TODO:
+  - Solve the way mark pin as connected pin
+  - Branch intersect sometimes is not draw correctly
+  - Issues screenshot:
+    - ![](journal_media/connected_pin_issue.png)
+    - ![](journal_media/branch_issue.png)
+    - ![](journal_media/pop_inter_issue.png)
+
+- Current status:
+- ![](journal_media/current_demo.png)
+
+### 08/26/2019
+
+- Fixed issue:
+  - `roco_dsn` now reads `flip` argument to get correct pin locations
+- Solving issue in progress:
+  - When multiple wires are connecting to single pin. Isolation box is not draw correctly
+  - Have Done:
+    - Redo `sesreader` so paths will not be continued to merge if it reach one of the pin location
+
+- ![](journal_media/same_pin_intersect.png)
+### 08/22/2019
+
+- Try to solve issues:
+  - `get_pin_loc` function takes `flip` parameter incorrectly
+  - a wiring path is connected to another path (fixed)
+    - The contact point cannot contain more than two path intervals
+  
+- ![](journal_media/branch_fix.png)
+
+### 08/21/2019
+- TODO:
+  - Find solution to deal with `inkscape` pixel scale bug
+  - Read prototype `csv` file
+- Fabricate prototype
+  - Bug reported : (fixed)
+  - ![](journal_media/cross_bug_report.png)
+#### Noticed Issue:
+  - If two wiring paths are connected to one pin, it might generate a open circuit
+  - If a wiring path is connected to another path instead of pin, an error will occur b/c it cannot find a pin connected to the tip of one of the path
+
+- ![](journal_media/circuit_demo.png)
+- Bug reported:
+  - get_pin_loc function in `roco_dsn` does not consider `flip` situation, pin read wrong if `filp='back'`
+
+### 08/20/2019
+
+- Add multiple cut to parallel traces, get outer and inner helper diagonal cut so the isolation will work well
+
+- Making prototype cut from the output of software
+
+- Issue reported:
+  - Footprint size and actual cut size not consistent 
+### 08/19/2019
+
+- Remove the endpoint of a path if the last segment is inside the isolation box
+- Rodo the loop dealing with parallel traces 
+- Add code that does isolation box for non-connected pin
+
+- ![](journal_media/iso_para_done.png)
+
+- When reading dwg file for dsn. It should know which is the boundary automatically.
+- Changed internal boundary index finder, so user won't need to type the boundary line index manually. A value will be parsed from pre-process class to dsn writter.
+- Merged and modified `dxf to path` function
+- Changed function does bi-sector in post-processing so it can fits the way we do `line to path` successfully
+- Whole process and pipeline works well now
+- Building high-level functions
+- Edit `sesreader` again and add a filter that removes redundant points
+- TODO:
+  - put new drawings on dxf version >=12
+  - so the width of drawing lines can be changed
+  - Isolation box and parallel traces requires multiple parallel cut, changing width makes drawing easier to see
+  
+### 08/16/2019
+
+- Record of Tips:
+  - changing the clearance defined in `dsn` file changes the rule of routing
+  - useful to change it according wire length and isolation box size
+  - This will output multiple path
+  - Redo `sesreader` so that it will merge paths those connect to each other
+
+### 08/15/2019
+
+- Solving issue: Connection between isolation box and parallel traces
+  
+~~~
+
+input: endpoints of a path (each endpoints has i+1 for finding a line), iso_size, trace_width
+output: intersect points*2 , draw isolation box in the process
+
+input= contact_ept, further_ept, size, width
+
+for pin_loc in all pin locations:
+  if the distance between endpoint1 and pin_loc is less than tolerance:
+    l=line(contact_ept,further_ept)
+    parallel_traces=find_offset(l,width)
+    iso_l_pts=isolation_box_linepts(size,pin_loc)
+    contact_list=[]
+    for l in parallel_traces:
+      contact=find_contact_iso_trace(l,iso_l_pts,further_ept)
+      contact_list.append(contact)
+    
+    draw_list=[]
+    draw_list.append(contact_list[0])
+    while len(iso_boundary)!=0:
+      for points in iso_boundary:
+        find a point that is closest to last point of draw_list
+        if not such point is inside of two contacts:
+          draw_list.append(points)
+        iso_boundary.remove(point)
+    
+    draw draw_list in order
+    return contact_list
+
+~~~
+
+- Connection between isolation and parallel traces solved!!!
+- ![](journal_media/iso_with_para.png)
+- TODO:
+  - Merge DXF to path code
+  - Issue exposed: after changing wire width, box still not quite correct
+  - `roco_ee_dwg_processing.py` line 132
+
+### 08/14/2019
+- Preparing software demo
+- High level of whole project package
+- ![](journal_media/roco_ee_highlvl.png)
+- Pipeline of drawing changes
+- ![](journal_media/dwg_structure.png)
+- Package module and classes breakdown
+- ![](journal_media/package_support.png)
+- Structure of customized package `dsnwriter`
+- ![](journal_media/dsnwriter_structure.png)
+- Structure of customized package `roco_ee_dwg`
+- ![](journal_media/roco_ee_dwg_structure.png)
+
+- Demo Video at [here](https://youtu.be/HeBw4uW3Xzc)
+
+- Solving issue: Connection between isolation box and parallel traces
+### 08/13/2019
+- Rearrange the package and draw the path directly on original drawing from old roco
+
+- dsn module placement match:
+  - instead of getting pin locations from old roco. set pin location based on footprint when user place modules
+  - Reason: 
+    - 1. no mechanical design needed for pins (especial will turn it to cross cut anyway)
+    - 2. make sure the electrical board design and drawings will always be consistent
+    - 3. easier to add new electrical components
+    - 4. easier to do drawing post processing (dealing with traces and isolation boxes)
+- Completed: a cross cut will be drawn at pin locations and that is automatically read from circuit design. The package will only need to load module once when design circuit
+- ![](journal_media/auto_read_and_cut.png)
+- Draw isolation boxes and connect one edge with parallel traces without causing open circuit (fail)
+- ![](journal_media/iso_trace_connect_fail.png)
+- TODO:
+  - Connect traces to isolation box
+  - Merge pre-processing code
+  - Demo
+
+
+
+### 08/12/2019
+- Finally figure out geometry algorithm on paper
+- Coding for parallel trace in following steps:
+  - 1. find start point and end point of a path, compute 4 points that vertical to end points based on width
+  - 2. find the angle bisector between each segment
+  - 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.
+  
+- Finally complete the parallel trace drawing. Now any path exported from auto-router will draw parallel trace with desired width to make sure the copper type surface can conduct well.
+- ![](journal_media/parallel_trace.png)
+- TODO:
+  - Connect traces to isolation box
+  - Merge pre-processing code 
+  - Clean up script
+  - Read trace width from Net Class
+### 08/09/2019
+
+- Potential problem:
+  - drawing pre-processing has two goals: 1. put different intensity cuts on different layers for accurate fabrication 2. make line to 4 nodes path for auto-router treating as obstacles.
+  - Two goal may conflict within single process
+  - potential solution: send 4 nodes path to auto-router and draw wiring paths on drawing with signed layers.
+  
+- Solving parallel traces math computation
+
+### 08/08/2019
+
+- `block` class in `ezdxf` generates symbol in `inkscape`. Check if it can be made to path from script
+- ![](journal_media/cross_cut.png)
+- Changed the way of drawing `cross-cut` to path directly instead of using inserting block class (see [paperbot_draw.py](paperbot_ee_autoroute/paperbot_draw.py) for detail)
+  
+- Parallel traces are not computed correctly
+- ![](journal_media/parallel_trace_error.png)
+### 08/07/2019
+- Working on drawing details regarding fabrication for electrical design
+  - A block was created for 'cross cut' to fit pin insertions
+  - Parallel traces are hard to get 
+  - A challenge that trimming isolation boxes with parallel traces occurs
+  
+### 08/06/2019
+
+- Successfully parse the wiring information from `ses` file to array
+  - A little "hacky" way, not using any parsing package but going through string and looking for path section
+  - For `ses` file only
+- Create new scripts and Re-arrange all packages
+  - User will be able to execute [fab_drawing.py](paperbot_ee_autoroute/fab_drawing.py) directly to get drawing for paperbot including electrical wiring design and ready to send to fabrication
+  - If user wants to change electrical connection, one can edit [paperbot_dsn.py](paperbot_ee_autoroute/paperbot_dsn.py)
+  - `dsnwriter` and `sesreader` source code are located [here](dsn_python/)
+- New script:
+  - [paperbot_draw.py](paperbot_ee_autoroute/paperbot_draw.py) has two classes:
+    - `pre-process`
+      - process the mechanical design drawing to correct format that can be taken by `dsnwriter` and `autorouter`
+    - `post-process`
+      - process the drawing file and draw wires based on `ses` file generated from `autorouter`
+- Milestone:
+  - Now user can generate `dsn` file from script and confirm auto-routing.
+  - A parser can pull information for wiring 
+  - Able to draw such wiring back on `dxf` drawings
+  - ![](journal_media/draw_on_dxf_fromses.png)
+- TODO:
+  - Merge pre drawing processing script with Daniel
+  - Details:
+    - add 'cross-cut' block in `ezdxf` for pin insertion cut
+    - add 'parallel-trace' block in` ezdxf` for circuit trace on copper tape
+  
+### 08/05/2019
+
+- Working on parsing routed (wiring section) text information.
+    - Ref: [pyparsing](https://scipy-cookbook.readthedocs.io/items/Reading_Custom_Text_Files_with_Pyparsing.html)
+- Parsing generated `dsn` file back to `DSN` class 
+  - Fail
+- Parsing generated `kicad_pcb` file back to `pykicad` package - `pcb` class
+  - Success
+- Working on:
+  - debug dsn library so it can read file.
+  - `pykicad` uses `pyparsing` internally
+  - Rebuild `ses` file schema. Not working well
+
+ 
+
+### 08/01/2019
+
+- Scripting Auto-router from python
+  - Run `.jar` package through python
+  - Can open GUI with imported file
+  - Cannot run auto-routing function from script
+  - Manually click on auto-routing and save is needed (manual approval)
+
+### 07/31/2019
+
+- Use `dsnwriter` in RoCo
+
+~~~
+
+Mechanical drawings (dxf/svg)------------|
+                                         |
+Module Footprints -----------------------|
+                                         |----> board design (dsn) 
+Electrical schematic design (netlist)----|
+                                         |
+Board design details(rules,parameters)---|
+
+
+
+----> board design (dsn)----> Auto-router (FreeRouting)----> routed board design (dsn) 
+----> wiring section ----> drawings with mechanical and electrical design (dxf/svg)
+~~~
+
+- The package now can auto-detect padstack information with multiple files
+
+### 07/30/2019
+- Record of Tips:
+  - Use `@classmethod` in class to parse information pull out from files (netlist,drawings,footprint) to original class
+- Package Dependencies:
+  - [pykicad](https://github.com/dvc94ch/pykicad)
+  - numpy
+- Class Footprint now can call function `from_file(path,ref)` to load footprint from a `.kicad_mod` file
+- Class Padstack now can call function 'auto_detact(path)` to guess information of pads and save as padstack class
+  - Via information need to be defined by users. (default=None)
+- Placement class can be defined after footprint is loaded and able to define the position of each component by calling `ref` of module.
+- ![](journal_media/module_dsn.png)
+- ![](journal_media/module_load_from_lib.png)
+
+- Netclass is easy to write from script.
+- Test auto-routing on generated `dsn`
+- ![](journal_media/auto_router_from_dsn.gif)
+- Test on wire width change
+- ![](journal_media/wider_wire.png)
+
+- TODO: Easier API to generate netlist.
+
+
+### 07/29/2019
+
+- Was working on 'dsn_python' Python Library.
+- Latest package can be found at [personal github](https://github.com/monkalynn813/dsn_python)
+- Class tree:
+
+~~~
+        |--dsnwritter.py (top and second level structure)
+              |--dsn_module.py
+                    |--module class
+                    |--load module functions
+              |--dsn_rule.py
+              |--dsn_geo.py
+                    |--boundary class
+                    |--keepout class
+                    |--load drawing functions
+              |--dsn_net.py
+                    |--net class
+                    |--netclass class
+                    |--load netlist functions
+~~~
+
+
+- Text tree structure is done.
+  - Documentation and notes for code needed
+- Functions are needed to help user use library.
+  - Function that load `dxf` file
+  - Function that load `footprint` file
+  - Function that load `netlist` file
+- For board outline/footprint/netlist not loaded from file but define through this library manually, it works very well for now.
+- Pull out those information from low-level file and convert it to proper text for `dsn` file
+
+- Record of Tips:
+  - `Freerouting` cannot take more than one boundary. (error: exact 1 bounding expected)
+
+- Able to use functions to load `dxf` drawings
+- "internal cut issue" solved
+  - Treat every line individually as polygon and labeled as keepout in `dsn` library
+  - ![](journal_media/keepout_load.png)
+  - ![](journal_media/dxf_in_freerouting.png)
+
+
+
+
+
+
+
+
+
+
+### 07/24/2019
+
+- Pipeline change: (skipping `KiCAD`)
+  - Use (`dxf`+ `pretty` (footprint library) + `net` information ) to generate `dsn` file
+  - Send `dsn` file to auto-router, save as new `dsn` file
+  - Read `dsn` file `wiring` information and draw it back on `dxf`
+
+- Analysis on `dsn` file format:
+~~~
+        |--pcb
+        |   |--parser
+        |   |--resolution
+        |   |--unit
+        |   |--structure
+        |   |     |--layer 1
+        |   |     |-- ...
+        |   |     |--boundary
+        |   |     |--keepout 1
+        |   |     |-- ...
+        |   |     |--via
+        |   |     |--rule
+        |   |--placement
+        |   |     |--component 1
+        |   |     |-- ...
+        |   |--library
+        |   |     |--image [ref**] 1
+        |   |     |     |--outline
+        |   |     |     |--pin
+        |   |     |-- ...
+        |   |     |--padstack
+        |   |     |--...
+        |   |--network
+        |   |     |--net [name] 1
+        |   |     |   |--pins
+        |   |     |-- ...
+        |   |--wiring
+        |   |     |--wire
+~~~
+
+
+
+- TODO: functions that load modules and footprints
+
+
+### 07/23/2019
+
+- Solving issue: export `.kicad_brd` file to `dsn` file for auto-router
+- No known Python API so far.
+- [schematic-file-converter](https://github.com/ljmljz/schematic-file-converter)
+  - Take `.sch` file from `KiCAD` instead of `.kicad_brd` file
+
+- Official bug report has been requested. Not targeted in current `KiCAD` scripting version 
+  - [bug report](https://bugs.launchpad.net/kicad/+bug/1824668)
+
+- Potential Solutions:
+    - 1. Explore existing supported export API, and see if modification can be made based on existing API structure
+    - 2. Learn `dsn` file specification and python library to generate `dsn` file based on design information
+
+### 07/22/2019
+
+- Research on multiple KiCAD Python packages
+- [package 3rd party list](https://github.com/xesscorp/kicad-3rd-party-tools/blob/master/README.md#footprint-library-tools)
+- None can import `dxf` into `pcbnew` 
+- To import `dxf` into `pcbnew` automatically:
+  - Create a python API by myself based on the `c++` code
+  - Draw lines directly in `pcbnew` by using line information in `dxf`
+
+- Create a python script serving as Python API by drawing everything on `pcbnew`
+- Dependencies:
+  - ezdxf
+  - pykicad
+- Successfully import `dxf` as outlines from script
+- ![](journal_media/import_script.png)
+
+### 07/18/2019
+
+- Research on pcbnew API
+  - Using package [pykicad](https://github.com/dvc94ch/pykicad)
+  - Record of Tips:
+    - Do not add segments, which will route connections
+    - Different reference name need to be set for `dsn` export
+
+  - Able to add footprint and net list into pcbnew.
+  - TODO:
+    - Import dxf as outlines from script
+    - Export board as `dsn`
+
+### 07/17/2019
+
+- Notice that even the drawings cannot be imported onto 'wiring' layer, but can be changed manually to 'wiring' layer after importing onto 'edge.cut' layer
+  - `Freerouting` does not recognize wires that does not connect to any pins as obstacles.
+  - ![](journal_media/cutoncopper_layer.png)
+  - ![](journal_media/autorouter_ignore_cu_layer.png)
+
+- Work on script doing board design
+  - Create New Board
+  - Import DXF
+  - Load Netlist `.net` file
+  - Place modules
+  - Export to `.dsn` file
+
+### 07/16/2019
+
+- Fill and Stroke (Shift + Ctrl + F)
+- Stroke to Path
+- Union
+- Break Apart
+- Remove each outer layer (manually)
+- Export
+- ![](journal_media/attempt5_2d.png)
+- ![](journal_media/attempt5_3d.png)
+- ![](journal_media/attempt5_router.png)
+  
+- Consider success when export for auto-routing manually. Huge challenge expected when doing it from script.
+
+- Work on script doing schematic design
+  - *Assume symbol and footprint downloaded*
+  - Package Using: [skidl](https://xesscorp.github.io/skidl/docs/_site/)
+  - Record of Tips:
+      - Add custom library path that contains all symbols of electrical devices needed (`NodeMCU`)
+      - Use attribute `footprint` to add footprint for such symbol
+      - footprint syntax: 'footprint= libname.pretty: foot_print_name
+      - footprint directory should be under the same directory where `.lib` file is.
+  
+
+### 07/15/2019
+
+- 3 potential ways to solve the issue on KiCAD with internal cut
+- *Assume the position of each internal cut line is known*
+  
+  - 1. Make internal cut a closed shape (original cut with thickness)
+    - Pro: Easy to import routed circuit back to dxf cutter file
+    - Con: Hard to make the cut itself a closed shape.
+  
+  - 2. Make internal cut outlines a block on certain layer and treat it as obstacle in auto-router
+    - Pro: Easy to generate a block as obstacle in drawing
+    - Con: Hard to import routed circuit back to dxf cutter file
+  
+  - 3. Put internal cut on different layer in KiCAD that can be read as obstacle in auto-router 
+    - Best solution for now if the auto-router will be able to read single cut line, but cannot be edge.cut layer for sure, otherwise board outlines cannot be found by KiCAD.
+
+- Cut lines causing issues are marked in red.
+- ![](journal_media/internal_cut_marked.png)
+
+- `Inkscape` :
+  - Object stroke to path can make everything looks like a bounding box
+
+- Attempts:
+- 1. Stroke every line, auto-router shows nothing, no error
+- ![](journal_media/show_nothing_strokeeveryline.png)
+- ![](journal_media/attempt1_3d.png)
+- 2. Stroke every line, but has a larger boundary. auto-router shows nothing, error: cannot start a route inside of keepout area or boundary outlines
+- ![](journal_media/show_nothing_strokewithalargerboundary.png)
+- ![](journal_media/attempt2_3d.png)
+- 3. Stroke every line but make the boundary outlines not closed, and draw a larger outline. Auto-router shows nothing, no error
+- ![](journal_media/attempt3_2d.png)
+- ![](journal_media/attempt3_3d.png)
+- 4. Stroke only outline but make the boundary outlines not closed, and draw a larger outline. Auto-router shows properly. (no way to do it from script)
+- ![](journal_media/attempt4_2d.png)
+- ![](journal_media/attempt4_3d.png)
+- ![](journal_media/attempt4_router.png)
+
+
+### 07/11/2019
+
+- Solved Error `unable to find segment with an endpoint`
+  - `DSN` file can only be exported for continuous closure outlines
+  - ![](journal_media/fail_dsn.png)
+  
+  - Drawings like this drawing for paper cut is not acceptable for `dsn` file.
+  - Change it either to close shape or remove it when import to KiCAD
+
+- Solving Issue: `FreeRouting` is not reading edge cut layer from `dsn`
+
+  - Work well on a sample `dsn` file
+  - Issue with KiCAD output
+    - Sample KiCAD project can output outlines properly. 
+
+- Issue found:
+  - KiCAD cannot take single line cut. Closed shape needed.
+  
+
+
+### 07/10/2019
+
+##### Approach A
+
+
+- Import to PCBnew issue:
+  - Dimension of board outlines are incorrect
+  - Pins does not fit in original drawings
+  - (solved. Microcontroller footprint was incorrect)
+
+- pipeline confirmed:
+  
+  - 1. Build symbol and footprint library for all required electrical element
+  - 2. Sketch schematic design
+    - `.sch` file
+  - 3. Place elements in required position
+    - `.dsn` file
+  - 4. Import `dsn` file into `FreeRouting` and do auto-routing
+    - `.ses` file
+  - 5. Import `ses` file back to `KiCAD` and export as `dxf` file
+    - `.dxf` file
+
+- Manually tested pipeline till step 4
+
+- Step 3
+- ![](journal_media/sample_conn_pcbnew.png)
+
+- Step 4
+- ![](journal_media/sample_autorouting.gif)
+  - ISSUE:
+    - Board outlines are not exported correctly to `FreeRouting`
+    - Error: `unable to find segment with an endpoint`
+  
+  - Record of Tips:
+    - To run `FreeRouting` from command line:
+      ~~~
+      java -jar freeRouting.jar [proj.dsn]
+      ~~~
+- TODO:
+  - Finish with testing the pipeline manually
+  - Achieve steps directly from script (Python API)
+  
+### 07/09/2019
+- Finish up path-finding approach (Approach B)
+- Only draw the best path on `dxf` when solution is found for every route.
+- ![circuit_dxf](journal_media/dxf_circuit.png)
+- Throw warning once a route cannot be found
+- ![fail_solution](journal_media/path_fail.gif)
+
+- Research on Approach A
+  - KiCAD 5 does not have built-in auto-router
+    - Have to use `FreeRouting`
+
+  - `FreeRouting` does not have python API
+  - Parent package of `FreeRouting`, `LayoutEditor` has multiple editions
+    - Part of `LayoutEditor` is open- source
+    - A large amount of of its website are broken, source and interface are unavailable
+
+- Other auto-routers are not open-source
+
+##### Approach A
+- 1. Use `LayoutEditor` python API to use `FreeRouting`
+- 2. Use `KiCAD 5` python API to sue `FreeRouting` 
+- 3. Use `KiCAD 4` python API to use builtin auto-routing
+
+###### 1 
+- `FreeRouting` input format: `dsn`, `lef`, `def`
+- `FreeRouting` output format: `ses`, `def`
+- `FreeRouting` can take arbitrary board outlines shape
+
+- Edit `library` manually and test routing
+- ![dxf_import](journal_media/dxf_import_kicad.png)
+
+- TODO:
+  - If can run KiCAD 4 from python
+  - Check `FreeRouting` API, see if a acceptable file can be generated from things on hand
+  
+
+
+### 07/08/2019 (Mon)
+
+- Debug multi-node path finding:
+  - some obstacles are ignored
+  - too close to each other
+- Able to show the learning process:
+  - Trying different combination of solving order
+  - Try to give the best order of solving multiple path
+
+##### Auto-routing learning process:
+  - ![path_learning.gif](journal_media/path_learning.gif)
+
+- Comparison between episodes and choose best combo of paths
+- ![learning_episodes.gif](journal_media/learning_episodes.gif)
+
+##### Issues and TODO
+- Path export from optimization is messed up
+- Obstacles setting are incorrect
+
+### 07/05/2019 (Fri)
+- Write out algorithm for multi-node path finding 
+  - pseudo code:
+  	
+~~~~
+ for (episode in E):
+    set initial state s (choose first pair of nodes to connect randomly)
+    find a path
+    update map
+    while not every connection is built:
+      choose next connection
+      find a path
+      update map
+      retrieve cost (length of path)
+    update Q (as sum of all cost)  
+	
+~~~~  
+  - Q here represents total cost of certain choice of path finding order.
+    - Cost defined by length of path
+    - If path cannot be found, cost 1000
+  - Input: NX2X2 array specifies desired pin connections
+  
+
+- Research on KiCAD import needs and python API
+
+### 07/03/2019 (Wed)
+- dxf processing completed
+
+- Convert dxf to matrix with resolution (270X210) (mm)
+  - Potential issue:
+    - the `pathfinding` package is based on pixel 
+    - When round up the line's start and end point, the accuracy of pin position is low
+
+- Apply single point to point path finding
+  - Able to draw the path on matrix
+  - Able to draw the path on original dxf file
+- ![matrix](journal_media/matrix_to_img.png)
+
+- TODO:
+  - Write out algorithm for multi-node path finding 
+  - break single circuit trace to parallel traces
+  - solve the accuracy problem
+
+
+### 07/02/2019 (Tue)
+- Continue the dxf processing
+- Following tasks can be completed by running the code:
+  - Able to detect pin center coordinate
+  - Able to draw arbitrary shape around the pin center
+  - ![isolation_circuit.png](journal_media/isolation_circuit.gif)
+  
+- - Issue & TODO
+  - Convert dxf image to matrix
+  - Explore `pathfinding` package
+
+  - `pathfinding` package solve path finding problem by shortest path algorithm, one point to another
+  - To solve multiple nodes problem, use concept from reinforcement learning
+    - Build Q function that represents total reward of choosing certain path to be solved first
+    - Update Q function in a loop with certain amount of episodes   
+    - Choose the order of solving paths randomly, and add possibility of choosing it from Q function
+    - Exploration-exploitation method
+- To solve the problem "convert dxf to matrix" for pathfinding:
+  - Have tried:
+    - Export to `png` and read file by `OpenCV`
+      - Resolution problem: single point does not represented as a pixel in `png`
+    - TODO:
+      - create an empty matrix and fill in numbers with the information of each lines' start and end point
+
+
+### 07/01/2019 (Mon)
+- Continue the dxf processing with `'graph-silhouette.dxf'`
+##### Record of tips:
+  -  Put circuit design on a new layer of dxf drawing
+     -  [check doc about layers here](https://ezdxf.readthedocs.io/en/latest/tutorials/layers.html)
+  - Use block feature to draw similar pattern
+    - [check doc about block here](https://ezdxf.readthedocs.io/en/latest/tutorials/blocks.html)
+  - Blocks are `symbol` in Inkscape. Convert `symbol` to `path`
+    -  Edit > Clone > Unlink Clone (Shift+Alt+D), and you have a group, ungroup (Object > Ungroup, or Shift+Ctrl+G) and edit
+  - Convert `text` to `path`
+    - Path combine (Ctrl+K)
+  - msp.delete_enetity('__') to remove existing entity
+
+- Test fabrication with different drawing settings
+  - Layers can be cut separately by toggling visibility
+  - Set cuts with same `intensity` and `feedrate` on same layer
+  - Entities' layer can be changed through `Entity.dxf.layer`
+
+### 06/29 & 06/30/2019 (Sat & Sun)
+##### Approach `B`
+- Potential needed functions of packages
+  
+  - A package draws on DXF file through script
+  - A script that pulls out pins' coordinate on paper chassis
+    - Or a image process package (OpenCV) that reads pins' coordinate on paper chassis
+  - A package solves multi-node path finding problem*
+
+##### Record of Research  
+- Python Pathfinding package:
+  - [pathfinding](https://pypi.org/project/pathfinding/#description)
+- Python DXF editor:
+  - [ezdxf](https://pypi.org/project/ezdxf/)
+  - [dxfgrabber](https://pypi.org/project/dxfgrabber/)
+    - `Note`: able to grab simple geometry from file 
+  - [sdxf](http://www.kellbot.com/sdxf-python-library-for-dxf/)
+- Going through tutorials of `ezdxf`
+  - All lines on paper space`layer0`
+
+
+###  06/28/2019 (Fri)
+##### Connection and fabrication approach confirmed !
+- Confirm that copper tape has better conductivity than aluminum sheet when attaching microcontroller pins through `H-shape` cut
+  - Copper tape is harder to be scratched, which provides less risk of disconnection during assembly.
+- Etching on copper type isolates connections
+  
+- Research on PCB editor
+  - EAGLE
+    - EAGLE cannot import `.pcb` file
+    - `svg` can be exported but not imported
+    - Custom library needed if doing schematic design
+  - KiCad
+    - Can import `.pcb` file
+    - `svg` can be exported but not imported
+  - LayoutEditor
+    - support multiply file type
+    - `svg` can be exported with different color makers as multiple layers
+    - include open-sourced auto-router `freerouting`
+- Auto-routing package:
+  - TopoR
+  - Python-PCB
+  - FreeRouting
+
+
+- Approaches:
+  - `A`. convert SVG/DXF file to schematic/board design of PCB.  Use KiCAD or EAGLE to do auto routing.
+  - `B`. develop algorithm on auto routing for single layer svg/dxf file. (path finding problem)
+ 
+ 
+##### Approach `A`
+-  Use regular shape board for PCB in EAGLE/KiCAD
+   - image processing: divide the shape of `paperbot` to multiple rectangles (ezdxf)
+   
+   - Pull required connections and place additional header pins around edges of each rectangle
+
+- Make each connection pin to be two parallel connections so auto-router does parallel trace for each wiring.
+  - Etching a pair of parallel trace provides isolation, and leave the space between traces to be conductible.
+
+- Build Library for schematic design
+  - Schematic design helps with router to know desired connection
+  - Additional header pins at each side of kink mark
+
+### 06/27/2019 (Thur)
+- Compile `OldRoCo` [repo](https://git.uclalemur.com/mehtank/oldroco)
+  - Record of modification:
+    - ++line 8 of `vstart.sh`
+    - --> `pip install -r requirements.txt --user`
+- Export `paperbot` dxf file : `graph-silhouette.dxf` to `OnShape`
+  - Record of Tips:
+    - Onshape does not read dxf file as its own saved unit. Manual settings needed when import.
+    - ![onshape_dxf_unit](journal_media/onshape_dxf_unit.png)
+- Draw circuit diagram as CAD on `Onshape`
+  - Multiple connection approaches:
+    - `Cross` shape of `0.039 in`
+    - `Cross` shape of `0.049 in`
+    - `Octangular` shape of `0.049 in`
+    - ![connection_approaches.png](journal_media/connection_approaches.png)
+    - ![actual_connection_cuts.JPG](journal_media/actual_connection_cut.JPG)
+  - Note and issue:
+   - `Octangular` shape is the best connection approach so far, but none of approach has stable conductivity. More research is needed.
+    - Scratches can be made easily when attaching microcontroller to the sheet. Potential disconnection may occur due to such scratches on metal layer.
+- Export 2D CAD drawing with PCB to SVG for silhouette cameo 
+  - Record of Tips:
+    - `OnShape` unit need to be consisted with unit setting in `Inkscape` (default: mm)
+  - Plugin `Inkscape-silhouette` cannot take multiple types of trace for cutting. 
+    - Different trace (especially cut and etching) need to be sent separately. Use `coordinate tool` of `Inkscape` to ensure separated cuts have same origin. 
+  - TODO:
+    - Cut and etching from same `Inkscape` file
diff --git a/auto_router_ondxf/auto_router_ondxf.py b/auto_router_ondxf/auto_router_ondxf.py
new file mode 100644
index 0000000000000000000000000000000000000000..18e22869d4f65712fa890821e3d00500c11b7246
--- /dev/null
+++ b/auto_router_ondxf/auto_router_ondxf.py
@@ -0,0 +1,289 @@
+#!/usr/bin/env python
+
+import numpy as np
+import ezdxf 
+import random
+from math import sqrt
+import cv2
+import os
+from pathfinding.core.diagonal_movement import DiagonalMovement
+from pathfinding.core.grid import Grid
+from pathfinding.finder.a_star import AStarFinder
+import copy
+import matplotlib.pyplot as plt
+import matplotlib.animation as animation
+from matplotlib import cm
+
+
+class auto_rounter:
+    def __init__(self,path,dxf_file):
+        self.dwg=ezdxf.readfile(path+dxf_file)
+        self.msp=self.dwg.modelspace()
+        self.dxf_name='silhouette_ele.dxf'
+        self.fail_flag=False #return True when path not found
+        
+        
+        self.create_layer('Cut',5)
+        self.create_layer('Circuit',1)
+        self.create_layer('Label',3)
+        self.create_layer('Fold',4)
+        self.create_layer('Pin_temp',6)
+
+        self.layer_rearrange() ## reagrrange cut and fold lines to corresponding layers
+        self.remove_wheels() ##remove wheel drawings for this design, no need to call for other designs
+        self.find_pin()
+
+        isolength=2.6 #mm
+        # self.draw_on_pin(isolength)
+
+        self.matrix_shape=(270,210)
+        self.read_dxf_as_matrix()
+        
+
+
+        # self.connections_list=np.array([[0,0],[0,0]]).reshape(1,2,2)
+        # connection_amount=4
+        # for i in range(connection_amount):
+        #     s=random.randint(0,len(self.center_arr)-1)
+        #     e=random.randint(0,len(self.center_arr)-1)
+        #     connections=np.array([[self.center_arr[s],self.center_arr[e]]]).reshape(1,2,2)
+        #     self.connections_list=np.append(self.connections_list,connections,axis=0)
+        
+        # self.connections_list=np.rint(self.connections_list)[1:]
+
+        ############for testing and demo purpose #############
+        self.connections_list=self.test_connections()
+        
+        
+
+                
+        # self.matrix_temp=copy.deepcopy(self.matrix)
+        # self.img=plt.imshow(self.matrix_temp,interpolation='nearest',cmap=cm.Spectral)
+        # ani=animation.FuncAnimation(self.fig,self.find_multi_path,interval=10)
+        # plt.show()
+
+        self.find_multi_path(1)
+        self.dwg.saveas(self.dxf_name)
+
+
+
+    def create_layer(self,layer_name,color):
+        if not layer_name in self.dwg.layers:
+            self.dwg.layers.new(name=layer_name,dxfattribs={'color':color})
+
+    def layer_rearrange(self):
+        # put fold lines to the new layer 'Fold'
+        # put cut lines to the new layer 'Cut
+        for e in self.msp.query('LINE'):
+            if e.dxf.color!=5:
+                e.dxf.layer='Fold'
+            else:
+                e.dxf.layer='Cut'
+
+    def find_pin(self):
+        tolerance=0.05 #mm
+        pincutsize=1 #mm
+        pin_edge_arr=np.array([[0,0],[0,0]]).reshape(1,2,2)
+        self.center_arr=np.array([[0,0]])
+
+        for e in self.msp.query('LINE[layer=="Cut"]'):
+            length= sqrt((e.dxf.start[0]-e.dxf.end[0])**2+(e.dxf.start[1]-e.dxf.end[1])**2)
+            if length > pincutsize-tolerance and length < pincutsize + tolerance:
+                e.dxf.layer='Pin_temp'
+                if e.dxf.start[1]==e.dxf.end[1]: ##this line is horizontal
+                    pin_edge=np.array([e.dxf.start,e.dxf.end])[:,:2]
+                    pin_edge_arr=np.concatenate((pin_edge_arr,pin_edge.reshape(1,2,2)),axis=0)
+        pin_edge_arr=pin_edge_arr[1:]
+        # print(pin_edge_arr)
+        
+        for i in range(len(pin_edge_arr)):
+            for e in np.delete(pin_edge_arr,i,axis=0):
+                if pin_edge_arr[i][0,1]-e[0,1]==1.0:
+                    center_x=pin_edge_arr[i][0,0]-0.5
+                    center_y=pin_edge_arr[i][0,1]-0.5
+                    center=np.array([center_x,center_y]).reshape(1,2)
+                    self.center_arr=np.append(self.center_arr,center,axis=0)
+
+        self.center_arr=np.unique(self.center_arr,axis=0)
+        self.center_arr=self.center_arr[1:]
+        # print(self.center_arr)
+    def remove_wheels(self):
+        #no need to call this function for other design
+        for e in self.msp.query('Arc LINE[layer=="Cut"]'):
+            if e.dxf.start[0]>=179:
+                self.msp.delete_entity(e)
+    
+
+    def draw_on_pin(self,fulllength): #isolation
+        iso=self.dwg.blocks.new(name='ISO_BLK')
+        isolength=fulllength/2
+        trace_w=0.8
+        iso.add_line((-isolength,isolength),(isolength,isolength),dxfattribs={'linetype':'DASHDOT'})
+        iso.add_line((-isolength,-isolength),(isolength,-isolength),dxfattribs={'linetype':'DASHDOT'})
+        iso.add_line((-isolength,-isolength),(-isolength,isolength),dxfattribs={'linetype':'DASHDOT'})
+        iso.add_line((isolength,-isolength),(isolength,isolength),dxfattribs={'linetype':'DASHDOT'})
+
+        iso.add_line((-isolength,-trace_w/2),(-(isolength+5),-trace_w/2),dxfattribs={'linetype':'DASHDOT'})
+        iso.add_line((-isolength,trace_w/2),(-(isolength+5),trace_w/2),dxfattribs={'linetype':'DASHDOT'})            
+        for center_point in self.center_arr:    
+            self.msp.add_blockref('ISO_BLK',center_point,dxfattribs={'layer':'Circuit'})
+
+    
+    def read_dxf_as_matrix(self): 
+        """unit: mm 
+            accuracy issue expected atm (mm round up)
+        """
+        self.matrix=np.ones(self.matrix_shape)
+
+        for line in self.msp.query('LINE[layer!="Fold" & layer!="Label" & layer!="Pin_temp"]'):
+            start=np.rint(line.dxf.start)
+            end=np.rint(line.dxf.end)
+            i=int(start[0])
+            j=int(start[1])
+            #can draw horizontal or vertical lines only
+            if j==end[1]: #this line is a horizontal line
+                self.matrix[j,i]=0
+                while i!=end[0]:
+                    if i<end[0]:
+                        i+=1
+                    else:
+                        i-=1
+                    self.matrix[j,i]=0
+            elif i==end[0]: #this line is a vertical line
+                self.matrix[j,i]=0
+                while j!=end[1]:
+                    if j<end[1]:
+                        j+=1
+                    else:
+                        j-=1
+                    self.matrix[j,i]=0
+        
+    def find_a_path(self,matrixws,start_point,end_point):
+        """
+        find a path between two points on img=matrix
+        start_point and end_point shape: (2,)
+        """
+        #DEBUG:
+        # if not np.array_equal(matrixws,self.matrix):
+        #     print('Map updated')
+
+        grid = Grid(matrix=matrixws)
+        start=grid.node(int(start_point[0]),int(start_point[1]))
+        end=grid.node(int(end_point[0]),int(end_point[1]))
+        finder = AStarFinder(diagonal_movement=4)
+        path, runs = finder.find_path(start, end, grid)
+
+        return path
+    def draw_a_path(self,path,matrix,dxf=False):
+        """ draw a path on img=matrix, or on dxf file too"""
+        #draw on matrix:
+        for point in path:
+            matrix[point[1],point[0]]=0
+        #draw on dxf:
+        if dxf:
+            
+            for i in range(len(path)-1):
+                self.msp.add_line(path[i],path[i+1],dxfattribs={
+                    'layer':'Circuit',
+                    'linetype':'DASHDOT'})
+    
+    def get_cost(self,path):
+        if len(path)==0: #if no path found
+            print('one path not found')
+            self.fail_flag=True
+            cost=1000
+        else: cost=len(path)
+
+        return cost        
+
+
+    def find_multi_path(self,i):
+        """connection list shape : NX2X2 """
+        E=20
+        print("==========Auto rounting start===========")
+        
+        for episode in range(E):
+            print 'episode:',episode+1,'(/',E,')==========='
+            self.matrix_temp=copy.deepcopy(self.matrix)
+            self.Q=0
+            self.fail_flag=False
+
+            random_ix=random.randint(0,len(self.connections_list)-1)
+            init_s=self.connections_list[random_ix]
+            current_solving=np.array([init_s]).reshape(1,2,2)
+            con_list_temp=np.delete(self.connections_list,random_ix,axis=0)
+            
+            cur_path=self.find_a_path(self.matrix_temp,init_s[0],init_s[1])
+            self.draw_a_path(cur_path,self.matrix_temp)
+            # self.img.set_array(self.matrix_temp)
+            
+            cost=self.get_cost(cur_path)
+            self.Q=self.Q+cost
+            
+            curpath_temp=[cur_path]
+            while len(con_list_temp)!=0:
+                random_ix=random.randint(0,len(con_list_temp)-1)
+                next_conn=con_list_temp[random_ix]
+                current_solving=np.append(current_solving,next_conn.reshape(1,2,2),axis=0)
+                con_list_temp=np.delete(con_list_temp,random_ix,axis=0)
+                
+                curpath=self.find_a_path(self.matrix_temp,next_conn[0],next_conn[1])
+                self.draw_a_path(curpath,self.matrix_temp)
+                curpath_temp.append(curpath)
+                # self.img.set_array(self.matrix_temp)
+               
+                cost=self.get_cost(curpath)
+                self.Q=self.Q+cost
+
+            if episode==0:
+                self.Q_buff=copy.deepcopy(self.Q)
+            if self.Q<=self.Q_buff:
+                self.Q_buff=copy.deepcopy(self.Q)
+                self.final_solving=current_solving
+                self.final_path=curpath_temp
+                self.final_fail=self.fail_flag
+                
+            print 'Current cost:',self.Q,'Best cost',self.Q_buff
+            episode+=1 
+        if not self.final_fail:
+            for i in range(len(self.final_path)):
+                self.draw_a_path(self.final_path[i],self.matrix,True)
+        else:
+            print 'One or more path cannot be solved'
+        
+    def test_connections(self):
+        y=97
+        x=90
+        arti_pin_array=np.empty((1,2))
+        center_pin_conn=np.empty((1,2))
+        pin_conn=np.empty((1,2,2))
+
+        for i in range(10):
+            arti_pin=(x+i,y)
+            arti_pin_array=np.append(arti_pin_array,[arti_pin],axis=0)
+        arti_pin_array=arti_pin_array[1:]
+        
+        for i in range(len(self.center_arr)):
+            if self.center_arr[i][1]<60:
+                center_pin_conn=np.append(center_pin_conn,self.center_arr[i].reshape(1,2),axis=0)
+            if len(center_pin_conn)>10: break
+        center_pin_conn=center_pin_conn[1:]
+        
+        for i in range(10):
+            pin_conn_temp=np.array([arti_pin_array[i],center_pin_conn[i]]).reshape(1,2,2)
+            pin_conn=np.append(pin_conn,pin_conn_temp,axis=0)
+        pin_conn=pin_conn[1:]
+
+        return pin_conn
+
+# def main():
+path='/home/jingyan/Documents/summer_intern_lemur/roco_electrical/'
+dxf_file='graph-silhouette.dxf'
+router=auto_rounter(path,dxf_file)
+# animation.FuncAnimation(edit.fig,plt.imshow(edit.matrix_temp))
+# plt.show()
+
+
+# if __name__ == '__main__':
+#     main()
+
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+1.0
+1040
+0.0
+1040
+0.0
+1040
+50.0
+1040
+0.0
+1040
+0.0
+1070
+0
+1070
+100
+1070
+1
+1070
+3
+1070
+0
+1070
+0
+1070
+0
+1070
+0
+1040
+0.0
+1040
+0.0
+1040
+0.0
+1040
+0.1
+1040
+0.1
+1040
+0.1
+1040
+0.1
+1070
+0
+1002
+{
+1002
+}
+1002
+}
+  0
+ENDSEC
+  0
+EOF
diff --git a/dsn_python/README.md b/dsn_python/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..63e0ea4da0e1235778c8a631cf0c461145cd456a
--- /dev/null
+++ b/dsn_python/README.md
@@ -0,0 +1 @@
+# dsn_python
diff --git a/dsn_python/__pycache__/dsn_geo.cpython-36.pyc b/dsn_python/__pycache__/dsn_geo.cpython-36.pyc
new file mode 100644
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diff --git a/dsn_python/__pycache__/dsn_load.cpython-36.pyc b/dsn_python/__pycache__/dsn_load.cpython-36.pyc
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diff --git a/dsn_python/__pycache__/dsn_module.cpython-36.pyc b/dsn_python/__pycache__/dsn_module.cpython-36.pyc
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diff --git a/dsn_python/__pycache__/dsn_net.cpython-36.pyc b/dsn_python/__pycache__/dsn_net.cpython-36.pyc
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diff --git a/dsn_python/__pycache__/dsn_rule.cpython-36.pyc b/dsn_python/__pycache__/dsn_rule.cpython-36.pyc
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diff --git a/dsn_python/__pycache__/dsnwritier.cpython-36.pyc b/dsn_python/__pycache__/dsnwritier.cpython-36.pyc
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index 0000000000000000000000000000000000000000..1890aaefc90ef62e7e8c6e165b1935bcab1c8419
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diff --git a/dsn_python/__pycache__/sesreader.cpython-36.pyc b/dsn_python/__pycache__/sesreader.cpython-36.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..23e257720f7b08845c08284b9d418ad656d8fb84
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diff --git a/dsn_python/dsn_geo.py b/dsn_python/dsn_geo.py
new file mode 100644
index 0000000000000000000000000000000000000000..3c9c1bda8091c7f8e969e468c152401414efaae4
--- /dev/null
+++ b/dsn_python/dsn_geo.py
@@ -0,0 +1,108 @@
+
+
+from pykicad.sexpr import *
+import numpy as np
+
+class load_drawing():
+    def __init__(self,afile):
+        import ezdxf
+        self.dwg=ezdxf.readfile(afile)
+        self.msp=self.dwg.modelspace()
+    
+    def load_all(self):
+        return [self.load_line,self.load_polygon]
+    
+    def load_line(self):
+        startlist=[]
+        endlist=[]
+        line_list=[]
+        for e in self.msp.query('LINE'):
+            startlist.append(e.dxf.start[:2])
+            endlist.append(e.dxf.end[:2])
+        
+        for i in range(len(startlist)):
+            line_list.append(startlist[i])
+            line_list.append(endlist[i])
+        
+        line_list=np.array(line_list)
+        # line_list[:,1]*=-1
+        line_list*=1000
+        line_list=line_list.flatten()
+        line_list=list(line_list)
+
+        return line_list
+    def load_polygon(self):
+        pts_list=[]
+        for e in self.msp.query('LWPOLYLINE'):
+            pts_list.append(np.array(e.get_points()))
+
+        for i in range(len(pts_list)):
+            pts_list[i]=pts_list[i][:,:2]
+            # pts_list[i][:,1]*=-1
+
+            ##Unit = um
+            pts_list[i]=pts_list[i]*1000
+            pts_list[i]=pts_list[i].flatten()
+            pts_list[i]=list(pts_list[i])
+        return pts_list  
+    def load_line_as_polygon(self):
+        pts_list=self.load_polygon()
+        ply_list=[]
+        for i in range(len(pts_list)):
+            for j in range(len(pts_list[i])):
+                ply_list.append(pts_list[i][j])
+        return ply_list
+
+class Boundary(AST):
+    tag='boundary'
+    schema={
+        'path pcb':{
+            '0':{
+                '_parser':integer,
+                '_attr':'brd_index'
+            },
+            '1':{
+                '_parser': number,
+                '_attr': 'path'
+            },
+
+        }
+    }
+
+    def __init__(self,path,brd_index=0):
+        super(Boundary,self).__init__(path=path,brd_index=brd_index)
+  
+
+
+class Keepout(AST):
+    tag='keepout'
+    schema={
+        '0':{
+            '0':{
+                '_parser':text,
+                '_attr':'name'
+            },
+
+            ' ':{
+                '0': {
+                    '_parser':text,
+                    '_attr':'shape'
+                },
+                '1':{
+                    '_parser':text,
+                    '_attr':'typex'
+                },
+                '2':{
+                    '_parser':integer,
+                    '_attr':'brd_index'
+                },
+                '3':{
+                    '_parser': number,
+                    '_attr':'path'
+                },
+            },
+        },
+    }
+    def __init__(self,path,name='\"\"',brd_index=0,shape='polygon',typex='signal'):
+
+        super(Keepout,self).__init__(path=path,name=name,brd_index=brd_index,shape=shape,typex=typex)
\ No newline at end of file
diff --git a/dsn_python/dsn_geo.pyc b/dsn_python/dsn_geo.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..84c49e57ebd7afd674ad4157c2dd644b6fc12aeb
Binary files /dev/null and b/dsn_python/dsn_geo.pyc differ
diff --git a/dsn_python/dsn_module.py b/dsn_python/dsn_module.py
new file mode 100644
index 0000000000000000000000000000000000000000..0fb5a3dbfd4a25f77557567707733f485c5f1da7
--- /dev/null
+++ b/dsn_python/dsn_module.py
@@ -0,0 +1,227 @@
+
+from pykicad.sexpr import *
+
+unit_convert=1000
+
+class Placement(AST):
+    tag='component'
+    schema={
+        '0':{
+            '_parser':text,
+            '_attr':'ref1',
+            # '_multiple':True
+        },
+        'place':{
+            '0':{
+                '_parser':text,
+                '_attr':'ref2',
+            },
+            '1':{
+                '_parser':number + number,
+                '_attr':'at'
+            },
+            '2':{
+                '_parser':text,
+                '_attr':'flip'
+            },
+            '3':{
+                '_parser':integer,
+                '_attr':'orientation'
+            },
+            'PN':{
+                '_parser':text,
+                '_attr':'name'
+            }
+        }
+    }  
+    def __init__(self,ref1,at=[0,0],ref2=None,flip='front',orientation=0,name=None):
+        # at[1]=-at[1] #flip y for dsn
+        ref2=ref1
+        super(Placement,self).__init__(ref1=ref1,ref2=ref2,at=at,flip=flip,orientation=orientation,name=name)
+
+class Outline(AST):
+    tag='outline'
+    schema={
+        '0':{
+            'path signal':{
+                '0':{
+                    '_parser':integer,
+                    '_attr':'width'
+                },
+                '1':{
+                    '_parser':integer,
+                    '_attr':'outline_start'
+                },
+                '2':{
+                    '_parser':integer,
+                    '_attr':'outline_end'
+                }
+            }
+
+        }
+    }
+    def __init__(self,width=None,outline_start=None,outline_end=None):
+        super(Outline,self).__init__(width=width,outline_start=outline_start,outline_end=outline_end)
+
+class Pin(AST):
+    tag='pin'
+    schema={
+        '0':{
+            '_parser':text,
+            '_attr':'pin_type',
+        },
+        '1':{
+            '_parser':integer,
+            '_attr':'pin_index',
+        },
+        '2':{
+            '_parser':number+number,
+            '_attr':'pin_at',
+        }
+    }
+    def __init__(self,pin_index=None,pin_at=None,pin_type='Round[A]Pad_1524_um'):
+        super(Pin,self).__init__(pin_type=pin_type,pin_index=pin_index,pin_at=pin_at)
+
+class Shape(AST):
+    tag='shape'
+    schema={
+        ' ':{
+            '0':{
+                '_parser': text,
+                '_attr':'shape'
+                
+            },
+            '1':{
+                '_parser': text,
+                '_attr':'layer'
+            },
+            '2':{
+                '_parser': integer,
+                '_attr': 'size'
+            }
+        }
+    }
+    def __init__(self,shape='circle',layer=None,size=1524):
+        super(Shape,self).__init__(shape=shape,layer=layer,size=size)
+class Padstack(AST):
+    tag='padstack'
+    schema={
+        '0':{
+            '_parser': text,
+            '_attr': 'pin_type'
+        },
+        '1':{
+            'shape':{
+                '_parser':Shape,
+                '_multiple':True
+            },
+        },
+
+        'attach':{
+            '_parser': text
+        }
+    }
+    def __init__(self,pin_type='Round[A]Pad_1524_um',shape=None,attach='off'):
+        shape=self.init_list(shape,[])
+        super(Padstack,self).__init__(pin_type=pin_type,shape=shape,attach=attach)
+    
+    @classmethod
+    def auto_detect(cls,path,attach='off'):
+        """
+        load a module footprint file and auto detect pad info
+        output: padstack class
+        """
+        from pykicad.module import Module as mod 
+        import numpy as np
+        module=mod.from_file(path)
+        
+        pad_types=[]
+        for i in range(len(module.pads)):
+            pad=module.pads[i]
+            combo=[pad.shape,pad.layers,int(pad.size[0]*unit_convert)]
+            if not combo in pad_types:
+                pad_types.append(combo)
+        padstack=[]
+        for i in range(len(pad_types)):
+            shape_class=[]
+            for layer in pad_types[i][1]:
+                if '*' in layer:
+                    layer_ext=layer.split('.')[-1]
+                    shape_class.append(Shape(pad_types[i][0],'F.'+layer_ext,pad_types[i][2]))
+                    shape_class.append(Shape(pad_types[i][0],'B.'+layer_ext,pad_types[i][2]))
+                else:
+                    shape_class.append(Shape(pad_types[i][0],layer,pad_types[i][2]))
+                
+            pin_type='Round[A]Pad_'+str(int(pad_types[i][2]))+'_um'
+            padstack_class=cls(pin_type,shape_class,attach)
+            padstack.append(padstack_class)
+        return padstack
+
+        
+            
+class Footprint(AST):
+    tag='image'
+    schema={
+        '0':{
+            '_parser':text,
+            '_attr':'ref',
+        },
+        'outline':{
+            '_parser':Outline,
+            '_multiple':True
+        },
+        'pin':{
+            '_parser':Pin,
+            '_multiple':True
+
+        }
+
+    }
+    def __init__(self,ref=None,outline=None,pin=None):
+        outline=self.init_list(outline,[])
+        pin=self.init_list(pin,[])
+        super(Footprint,self).__init__(ref=ref,outline=outline,pin=pin)
+
+    
+    @classmethod
+    def from_file(cls,path,ref='REF**'):
+        """ 
+        load module footprint from a '.kicad_mod' file
+        path: afile
+        ref: ref name of module eg. U1
+        output: footprint class
+        """
+        from pykicad.module import Module as mod 
+        import numpy as np
+        module=mod.from_file(path)
+
+        outlines=[]
+        for i in range(len(module.lines)):
+            outline=module.lines[i]
+            width=outline.width*unit_convert
+            outline_start=np.array(outline.start)*unit_convert
+            # outline_start[1]*=-1
+            outline_start=list(outline_start)
+            outline_end=np.array(outline.end)*unit_convert
+            # outline_end[1]*=-1
+            outline_end=list(outline_end)
+            outline_class=Outline(width,outline_start,outline_end)
+            outlines.append(outline_class)
+        
+        pads=[]
+        for i in range(len(module.pads)):
+            pad=module.pads[i]
+            pin_index=int(pad.name)
+            pin_at=np.array(pad.at)*unit_convert
+            pin_at[1]*=-1
+            pin_at=list(pin_at)
+            pin_size=pad.size[0]*unit_convert
+            pin_type='Round[A]Pad_'+str(int(pin_size))+'_um'
+            pin_class=Pin(pin_index,pin_at,pin_type)
+            pads.append(pin_class)
+        return cls(ref=ref,outline=outlines,pin=pads)
+        
+        
+    
+
+
diff --git a/dsn_python/dsn_net.py b/dsn_python/dsn_net.py
new file mode 100644
index 0000000000000000000000000000000000000000..6df2fd01480994b891b2c74e89ba2107d9b970e6
--- /dev/null
+++ b/dsn_python/dsn_net.py
@@ -0,0 +1,58 @@
+
+from pykicad.sexpr import *
+
+class Net(AST):
+    tag='net'
+    schema={
+        '0':{
+            '_parser': text,
+            '_attr': 'net_name'
+        },
+        '1':{
+            'pins':{
+                '0':{
+                    '_parser':text +text,
+                    '_attr':'conn_pins'
+                },              
+            }
+        }
+    }
+    def __init__(self,net_name,conn_pins=None):
+        super(Net,self).__init__(net_name=net_name,conn_pins=conn_pins)
+
+class NetClass(AST):
+    tag='class'
+    schema={
+        '0':{
+            '0':{
+                '_parser':text,
+                '_attr':'net_class_name'
+            },
+            '1':{
+                '_parser':text+text,
+                '_attr':'nets_name'
+            },
+        },
+        'circuit':{
+            '0':{
+                'use_via':{
+                    '_parser':text,
+                    '_attr':'via_name'
+                }
+            }
+        },
+        'rule':{
+            'width':{
+                '_parser':integer
+            },
+            'clearance':{
+                '_parser': number
+            }
+        }
+    }
+    def __init__(self,net_class_name='default',nets_name=None,
+                via_name='',width=3000,clearance=200.1):
+
+        super(NetClass,self).__init__(net_class_name=net_class_name,nets_name=nets_name,
+                                    via_name=via_name,width=width,clearance=clearance)
+                
diff --git a/dsn_python/dsn_rule.py b/dsn_python/dsn_rule.py
new file mode 100644
index 0000000000000000000000000000000000000000..8af63ef664b635d7f52007ec1f56a0c0cbfa0466
--- /dev/null
+++ b/dsn_python/dsn_rule.py
@@ -0,0 +1,42 @@
+
+
+from pykicad.sexpr import *
+class Clearance(AST):
+    tag='clearance'
+    schema={
+        '0':{
+            '_parser':number,
+            '_attr':'number'
+        },
+        '1':{
+            'type':{
+                '_parser':text,
+                '_attr':'typex'
+            },
+            '_optional':True
+        },
+    }
+    def __init__(self,number=200.1,typex=None):
+        super(Clearance,self).__init__(number=number,typex=typex)
+
+class Rule(AST):
+    tag='rule'
+    schema={
+        '0':{
+            'width':{
+                '_parser': number
+            },
+        },
+        '1':{
+            'clearance':{
+                '_parser':Clearance,
+                '_multiple':True
+            },
+            
+        },
+    }
+
+    def __init__(self,width=250,clearance=None):
+        clearance=self.init_list(clearance,[])
+       
+        super(Rule,self).__init__(width=width,clearance=clearance)
\ No newline at end of file
diff --git a/dsn_python/dsnwritier.py b/dsn_python/dsnwritier.py
new file mode 100644
index 0000000000000000000000000000000000000000..08c1a8e423650a78c73be53cbcec21e03c31a80b
--- /dev/null
+++ b/dsn_python/dsnwritier.py
@@ -0,0 +1,218 @@
+#!/usr/bin/env python3
+from pykicad.sexpr import *
+from dsn_rule import *
+from dsn_module import Placement,Footprint, Padstack
+import dsn_module as module
+from dsn_net import *
+from dsn_geo import *
+
+class Parser(AST):
+    tag = 'parser'
+    schema = {
+        'string_quote' : {
+            '_parser' : text,
+            '_attr' : 'quote_char'
+        },
+        'space_in_quoted_tokens' : {
+            '_parser': yes_no,
+            '_attr' : 'tokens_on_off'
+        },
+        'host_cad':{
+            '_parser': text
+        },
+        'host_version':{
+            '_parser':text
+        }
+    }
+    def __init__(self,
+        quote_char='\"',
+        tokens_on_off='on',
+        host_cad= "KiCad's Pcbnew",
+        host_version="5.1.3-ffb9f22~84~ubuntu18.04.1"):
+
+        super(Parser,self).__init__(quote_char=quote_char,
+                                    tokens_on_off=tokens_on_off,
+                                    host_cad=host_cad,
+                                    host_version=host_version)
+
+                         
+class Layer(AST):
+    tag='layer'
+    schema={
+        '0':{
+            '_parser': text,
+            '_attr': 'name'
+        },
+        'type':{
+            '_parser': Literal('signal') | 'power' | 'mixed' | 'jumper' | 'user',
+            '_attr': 'typex'
+        },
+        'property':{
+            'index':{
+                '_parser':text,
+                '_attr':'index'
+            },
+        },
+    }
+    index_ctr=0
+
+    def __init__(self,name,typex='signal',index=None):
+        index=Layer.index_ctr
+        Layer.index_ctr+=1
+        super(Layer,self).__init__(name=name,typex=typex,index=index)
+
+class Dsn(AST):
+    tag = 'PCB "kicad_board"'
+    schema = {
+        '0':{
+            'parser' : {
+            '_parser': Parser
+            },
+        },
+        '1':{
+            'resolution':{
+                '_parser': text + integer
+            },
+        },
+        '2':{    
+            'unit':{
+                '_parser': text
+            },
+        },
+        '3':{
+            'structure':{
+                '0':{
+                    'layers':{
+                        '_parser':Layer,
+                        '_multiple':True
+                    },
+                },
+                '1':{
+                    'boundary':{
+                        '_parser':Boundary, 
+                        '_multiple':False
+                    },                    
+                },
+                '2':{
+                    'keepout':{
+                        '_parser': Keepout,
+                        '_multiple': True
+                    },
+                },
+                '3':{
+                    'via':{
+                        '_parser': text,
+                        '_attr': 'via_type'
+                    },
+                },
+                '4':{
+                    'rule':{
+                        '_parser': Rule
+                    }
+                }
+            },
+            '_optional':True
+        },
+        '4':{
+            'placement':{
+                '0':{
+                    'placement':{
+                        '_parser':Placement,
+                        '_multiple':True
+                    },
+                },
+            },
+        },
+        '5':{
+            'library':{
+                '0':{
+                    'image':{
+                        '_parser': Footprint,
+                        '_multiple': True
+                    },
+                },
+
+                '1':{
+                    '_parser':Padstack,
+                    '_multiple': True,
+                    '_attr':'padstack'
+                }
+
+            }
+        },
+        '6':{
+            'network':{
+                'net':{
+                    '_parser':Net,
+                    '_multiple':True
+                },
+                'netclass':{
+                    '_parser':NetClass,
+                    '_multiple':True
+                }
+            }
+        },
+        '7':{
+            'wiring':{
+                '_parser':text,  #not available before auto-routing, code can be modificed if want to set route from script manually
+                
+            }
+        }
+
+
+           
+    }
+
+    def __init__(self,
+        resolution=['um',10],
+        unit='um',
+        parser=None,
+        layers=None,
+        boundary=None,
+        keepout=None,
+        via_type=None,
+        rule=None,
+        placement=None,
+        image=None,
+        padstack=None,
+        net=None,
+        netclass=None,
+        wiring= None
+        ):
+
+        layers=self.init_list(layers,[])
+        parser=self.init_list(parser,[])
+        boundary=self.init_list(boundary,[])
+        keepout=self.init_list(keepout,[])
+        placement=self.init_list(placement,[])
+        image=self.init_list(image,[])
+        padstack=self.init_list(padstack,[])
+        net=self.init_list(net,[])
+        net=self.init_list(netclass,[])
+
+        super(Dsn,self).__init__(
+            resolution=resolution,
+            unit=unit,
+            parser=parser,
+            layers=layers,
+            boundary=boundary,
+            keepout=keepout,
+            via_type=via_type,
+            rule=rule,
+            placement=placement,
+            image=image,
+            padstack=padstack,
+            net=net,
+            netclass=netclass,
+            wiring=wiring
+            )
+
+    def to_file(self, path):
+        if not path.endswith('.dsn'):
+            path += '.dsn'
+        with open(path, 'w', encoding='utf-8') as f:
+            f.write(self.to_string())     
+
+    @classmethod
+    def from_file(cls, path):
+        return cls.parse(open(path, encoding='utf-8').read())
\ No newline at end of file
diff --git a/dsn_python/dsnwritier.pyc b/dsn_python/dsnwritier.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..b54d2f136e0a7eed1bceb4c152ea8ba6585e81cf
Binary files /dev/null and b/dsn_python/dsnwritier.pyc differ
diff --git a/dsn_python/gui_defaults.par b/dsn_python/gui_defaults.par
new file mode 100644
index 0000000000000000000000000000000000000000..fcbec0b815b6dde32a84249cecea4fc34fbb41d9
--- /dev/null
+++ b/dsn_python/gui_defaults.par
@@ -0,0 +1,235 @@
+
+(gui_defaults
+  (windows
+    (board_frame
+      visible
+      (bounds
+        351 29 1150 916
+      )
+    )
+    (color_manager
+      not_visible
+      (bounds
+        0 600 1110 134
+      )
+    )
+    (layer_visibility
+      not_visible
+      (bounds
+        0 450 359 162
+      )
+    )
+    (object_visibility
+      not_visible
+      (bounds
+        0 550 395 396
+      )
+    )
+    (display_miscellanious
+      not_visible
+      (bounds
+        0 350 241 333
+      )
+    )
+    (snapshots
+      not_visible
+      (bounds
+        0 250 230 255
+      )
+    )
+    (select_parameter
+      not_visible
+      (bounds
+        0 0 246 467
+      )
+    )
+    (route_parameter
+      not_visible
+      (bounds
+        0 100 261 542
+      )
+    )
+    (manual_rules
+      not_visible
+      (bounds
+        0 27 284 196
+      )
+    )
+    (route_details
+      not_visible
+      (bounds
+        0 27 263 240
+      )
+    )
+    (move_parameter
+      not_visible
+      (bounds
+        0 50 304 139
+      )
+    )
+    (clearance_matrix
+      not_visible
+      (bounds
+        0 150 470 257
+      )
+    )
+    (via_rules
+      not_visible
+      (bounds
+        50 150 335 450
+      )
+    )
+    (edit_vias
+      not_visible
+      (bounds
+        100 150 413 87
+      )
+    )
+    (edit_net_rules
+      not_visible
+      (bounds
+        100 200 913 103
+      )
+    )
+    (assign_net_rules
+      not_visible
+      (bounds
+        100 250 213 84
+      )
+    )
+    (padstack_info
+      not_visible
+      (bounds
+        100 30 0 0
+      )
+    )
+    (package_info
+      not_visible
+      (bounds
+        200 30 0 0
+      )
+    )
+    (component_info
+      not_visible
+      (bounds
+        300 30 0 0
+      )
+    )
+    (net_info
+      not_visible
+      (bounds
+        350 30 0 0
+      )
+    )
+    (incompletes_info
+      not_visible
+      (bounds
+        400 30 0 0
+      )
+    )
+    (violations_info
+      not_visible
+      (bounds
+        500 30 0 0
+      )
+    )
+  )
+  (colors
+    (background
+      204 204 204
+    )
+    (hilight 1.0
+      0 0 204
+    )
+    (incompletes 1.0
+      0 153 153
+    )
+    (outline
+      0 0 0
+    )
+    (component_front
+      0 0 255
+    )
+    (component_back
+      255 0 0
+    )
+    (violations
+      255 0 255
+    )
+    (length_matching 1.0
+      0 255 0
+    )
+    (traces 1.0
+      255 0 0
+      0 0 255
+    )
+    (fixed_traces 1.0
+      255 0 0
+      0 0 255
+    )
+    (vias 1.0
+      200 200 0
+      200 200 0
+    )
+    (fixed_vias 1.0
+      200 200 0
+      200 200 0
+    )
+    (pins 1.0
+      150 50 0
+      160 80 0
+    )
+    (conduction 1.0
+      0 150 0
+      100 100 0
+    )
+    (keepout 1.0
+      0 110 110
+      0 100 160
+    )
+    (via_keepout 1.0
+      100 100 100
+      100 100 100
+    )
+  )
+  (parameter
+    (selection_layers 
+      all_visible
+    )
+    (selectable_items 
+      TRACES VIAS PINS FIXED UNFIXED 
+    )
+    (via_snap_to_smd_center 
+      on
+    )
+    (route_mode 
+      dynamic
+    )
+    (shove_enabled 
+      on
+    )
+    (drag_components_enabled 
+      on
+    )
+    (hilight_routing_obstacle 
+      off
+    )
+    (pull_tight_region 
+      2147483647
+    )
+    (pull_tight_accuracy 
+      500
+    )
+    (clearance_compensation 
+      off
+    )
+    (ignore_conduction_areas 
+      on
+    )
+    (automatic_layer_dimming 
+      0.7
+    )
+    (deselected_snapshot_attributes 
+    )
+  )
+)
\ No newline at end of file
diff --git a/dsn_python/gui_defaults.par.bak b/dsn_python/gui_defaults.par.bak
new file mode 100644
index 0000000000000000000000000000000000000000..7aa8af6713ad9c87e9faedc639eef28d04c6c288
--- /dev/null
+++ b/dsn_python/gui_defaults.par.bak
@@ -0,0 +1,235 @@
+
+(gui_defaults
+  (windows
+    (board_frame
+      visible
+      (bounds
+        351 29 1150 916
+      )
+    )
+    (color_manager
+      not_visible
+      (bounds
+        0 600 1110 134
+      )
+    )
+    (layer_visibility
+      not_visible
+      (bounds
+        0 450 369 162
+      )
+    )
+    (object_visibility
+      not_visible
+      (bounds
+        0 550 405 396
+      )
+    )
+    (display_miscellanious
+      not_visible
+      (bounds
+        0 350 241 333
+      )
+    )
+    (snapshots
+      not_visible
+      (bounds
+        0 250 230 255
+      )
+    )
+    (select_parameter
+      not_visible
+      (bounds
+        0 0 246 467
+      )
+    )
+    (route_parameter
+      not_visible
+      (bounds
+        0 100 261 542
+      )
+    )
+    (manual_rules
+      not_visible
+      (bounds
+        0 27 284 196
+      )
+    )
+    (route_details
+      not_visible
+      (bounds
+        0 27 263 240
+      )
+    )
+    (move_parameter
+      not_visible
+      (bounds
+        0 50 304 139
+      )
+    )
+    (clearance_matrix
+      not_visible
+      (bounds
+        0 150 470 257
+      )
+    )
+    (via_rules
+      not_visible
+      (bounds
+        50 150 335 450
+      )
+    )
+    (edit_vias
+      not_visible
+      (bounds
+        100 150 413 103
+      )
+    )
+    (edit_net_rules
+      not_visible
+      (bounds
+        100 200 913 103
+      )
+    )
+    (assign_net_rules
+      not_visible
+      (bounds
+        100 250 213 84
+      )
+    )
+    (padstack_info
+      not_visible
+      (bounds
+        100 30 0 0
+      )
+    )
+    (package_info
+      not_visible
+      (bounds
+        200 30 0 0
+      )
+    )
+    (component_info
+      not_visible
+      (bounds
+        300 30 0 0
+      )
+    )
+    (net_info
+      not_visible
+      (bounds
+        350 30 0 0
+      )
+    )
+    (incompletes_info
+      not_visible
+      (bounds
+        400 30 0 0
+      )
+    )
+    (violations_info
+      not_visible
+      (bounds
+        500 30 0 0
+      )
+    )
+  )
+  (colors
+    (background
+      204 204 204
+    )
+    (hilight 1.0
+      230 255 255
+    )
+    (incompletes 1.0
+      255 255 255
+    )
+    (outline
+      0 0 0
+    )
+    (component_front
+      0 0 255
+    )
+    (component_back
+      255 0 0
+    )
+    (violations
+      255 0 255
+    )
+    (length_matching 1.0
+      0 255 0
+    )
+    (traces 1.0
+      255 0 0
+      0 0 255
+    )
+    (fixed_traces 1.0
+      255 0 0
+      0 0 255
+    )
+    (vias 1.0
+      200 200 0
+      200 200 0
+    )
+    (fixed_vias 1.0
+      200 200 0
+      200 200 0
+    )
+    (pins 1.0
+      150 50 0
+      160 80 0
+    )
+    (conduction 1.0
+      0 150 0
+      100 100 0
+    )
+    (keepout 1.0
+      0 110 110
+      0 100 160
+    )
+    (via_keepout 1.0
+      100 100 100
+      100 100 100
+    )
+  )
+  (parameter
+    (selection_layers 
+      all_visible
+    )
+    (selectable_items 
+      TRACES VIAS PINS FIXED UNFIXED 
+    )
+    (via_snap_to_smd_center 
+      on
+    )
+    (route_mode 
+      dynamic
+    )
+    (shove_enabled 
+      on
+    )
+    (drag_components_enabled 
+      on
+    )
+    (hilight_routing_obstacle 
+      off
+    )
+    (pull_tight_region 
+      2147483647
+    )
+    (pull_tight_accuracy 
+      500
+    )
+    (clearance_compensation 
+      off
+    )
+    (ignore_conduction_areas 
+      on
+    )
+    (automatic_layer_dimming 
+      0.7
+    )
+    (deselected_snapshot_attributes 
+    )
+  )
+)
\ No newline at end of file
diff --git a/dsn_python/sesreader.py b/dsn_python/sesreader.py
new file mode 100644
index 0000000000000000000000000000000000000000..9a7ccb6245084a6bef7d9b33dc628f61f822becb
--- /dev/null
+++ b/dsn_python/sesreader.py
@@ -0,0 +1,120 @@
+#!/usr/bin/env python3
+
+import copy
+import numpy as np
+from math import sqrt
+def find_wire(file_path,pin_loc=None):
+    if not file_path.endswith('.ses'):
+        file_path+='.ses'
+    ses=open(file_path,'r').read().splitlines()
+    pathsec_list=[]
+    for i in range(len(ses)):
+        if 'path' in ses[i]:
+            for j in range(i,len(ses)):
+                if ')' in ses[j]:
+                    pathsec=[i,j]
+                    pathsec_list.append(pathsec)
+                    break
+    path_list=[]
+    for sec_bry in pathsec_list:
+        onepath=[]
+        for j in range(sec_bry[0]+1,sec_bry[1]):
+            pts_str=ses[j].split()
+            ptstart=int(pts_str[0])
+            ptend=int(pts_str[1])
+            pts=[ptstart,ptend]
+            onepath.append(pts)
+        path_list.append(onepath)
+
+
+    pin_loc_=[]
+    for module in pin_loc:
+        for pin in module:
+            pin=np.array(pin)*10000
+            pin=pin.astype(int)
+            pin=pin.tolist()
+            pin_loc_.append(pin)
+    merged_path_list=[]
+    while len(path_list)!=0:
+        merged_path=path_list[0]
+        path_list.remove(merged_path)
+        flag=True
+        s_merge_flag=True
+        e_merge_flag=True
+        while flag:
+            s=merged_path[0]
+            e=merged_path[-1]
+            # m1_len=len(merged_path)
+            flag=False
+            if s in pin_loc_:
+                s_merge_flag=False
+            if e in pin_loc_:
+                e_merge_flag=False
+            
+            to_merge_temp=[]
+            for restpath in path_list:
+                s_=restpath[0]
+                e_=restpath[-1]
+                # m2_len=len(restpath)
+                # if m1_len<3 or m2_len<3:
+                if (s==s_ or s==e_ or e==s_ or e==e_) and (s_merge_flag or e_merge_flag):
+                    to_merge_temp.append(restpath)
+            if len(to_merge_temp)!=0:
+                dis=[]
+                for temp_path in to_merge_temp:
+                    leng=len_of_path(temp_path)
+                    dis.append(leng)
+                to_merge=to_merge_temp[np.argmin(dis)]
+                to_merge_copy=copy.deepcopy(to_merge)
+                s_=to_merge[0]
+                e_=to_merge[-1]
+                if s==s_ and s_merge_flag:
+                    merged_path.remove(s)
+                    merged_path=list(reversed(merged_path))+(to_merge_copy)
+                    path_list.remove(to_merge) 
+                    flag=True               
+      
+                if s==e_ and s_merge_flag:
+                    merged_path.remove(s)
+                    merged_path=to_merge_copy+(merged_path)
+                    path_list.remove(to_merge) 
+                    flag=True               
+                if e==s_ and e_merge_flag:
+                    merged_path.remove(e)
+                    merged_path=(merged_path)+(to_merge_copy)
+                    path_list.remove(to_merge) 
+                    flag=True               
+                if e==e_ and e_merge_flag:
+                    merged_path.remove(e)
+                    merged_path=to_merge_copy+(list(reversed(merged_path)))
+                    path_list.remove(to_merge) 
+                    flag=True               
+                
+        merged_path_list.append(merged_path)
+    for path in merged_path_list:
+        if len(path)>=3:
+            path_cp=copy.deepcopy(path)
+            for i in range(len(path_cp)-2):
+                pt1=path_cp[i]
+                pt2=path_cp[i+1]
+                pt3=path_cp[i+2]
+                x1,x2,x3=pt1[0],pt2[0],pt3[0]
+                y1,y2,y3=pt1[1],pt2[1],pt3[1]
+                if x1==x2 and x2==x3:
+                    path.remove(pt2)
+                elif y1==y2 and y2==y3:
+                    path.remove(pt2)      
+    return merged_path_list
+
+def len_of_path(path):
+    
+    leng=0
+    for i in range(len(path)-1):
+        pt1=path[i]
+        pt2=path[i+1]
+        x1,y1=pt1[0],pt1[1]
+        x2,y2=pt2[0],pt2[1]
+        dis= sqrt((x1-x2)**2+(y1-y2)**2)
+        leng+=dis
+    return leng
+
diff --git a/graph-silhouette.dxf b/graph-silhouette.dxf
new file mode 100644
index 0000000000000000000000000000000000000000..ef386b1ff9c96d954b8a58c2ed33ee403e0ce94b
--- /dev/null
+++ b/graph-silhouette.dxf
@@ -0,0 +1,13030 @@
+  0
+SECTION
+  2
+HEADER
+  9
+$ANGBASE
+ 50
+0.0
+  9
+$EXTMAX
+ 10
+100.0
+ 20
+100.0
+ 30
+0.0
+  9
+$INSBASE
+ 10
+0.0
+ 20
+0.0
+ 30
+0.0
+  9
+$AUNITS
+ 70
+0
+  9
+$ACADVER
+  1
+AC1009
+  9
+$UNITMODE
+ 70
+0
+  9
+$EXTMIN
+ 10
+0.0
+ 20
+0.0
+ 30
+0.0
+  9
+$ANGDIR
+ 70
+0
+  0
+ENDSEC
+  0
+SECTION
+  2
+TABLES
+  0
+TABLE
+  2
+LTYPE
+ 70
+20
+  0
+LTYPE
+  2
+PHANTOM
+ 70
+0
+  3
+Phantom ______  __  __  ______  __  __  ______
+ 72
+65
+ 73
+6
+ 40
+2.5
+ 49
+1.25
+ 49
+-0.25
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+  2
+CENTERX2
+ 70
+0
+  3
+Center (2x) ________  __  ________  __  ________
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+ 49
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+ 49
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+ 49
+0.5
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+ 70
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+Phantom (.5x) ___ _ _ ___ _ _ ___ _ _ ___ _ _ ___
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+  2
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+  3
+Dash dot (2x) ____  .  ____  .  ____  .  ____
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+ 49
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+ 49
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diff --git a/paperbot_ee_autoroute/ee_dwg_processing.py b/paperbot_ee_autoroute/ee_dwg_processing.py
new file mode 100644
index 0000000000000000000000000000000000000000..41bf6c0a61c084f048069186809b5c7e788e23ea
--- /dev/null
+++ b/paperbot_ee_autoroute/ee_dwg_processing.py
@@ -0,0 +1,846 @@
+#!/usr/bin/env python3
+
+import numpy as np
+import ezdxf 
+import random
+from math import sqrt
+import copy
+import warnings
+unit_convert=10000 #ses to dxf
+
+class pre_process():
+    def __init__(self,dxf_file):
+        """
+        Runneg this class will generate a temporary file that is ready to be sent to auto-router
+        Please make sure the ME drawing has put everything need to cut (obstacles) in "Cut" layer
+        """
+        self.dwg=ezdxf.readfile(dxf_file)
+        self.msp=self.dwg.modelspace()
+        self.savename='dwg_for_autorouter.dxf'
+
+        self.create_layer('Circuit_Cut',6)
+        self.create_layer('Circuit_Etc',8)
+
+        self.keep_cut_layer_only()
+        self.line_to_path()
+        self.bry_ind=self.find_bry_index()
+
+    def create_layer(self,layer_name,color):
+        if not layer_name in self.dwg.layers:
+            self.dwg.layers.new(name=layer_name,dxfattribs={'color':color})
+
+    def keep_cut_layer_only(self):
+        for e in self.msp.query('*[layer!="Cut"]'):
+            self.msp.delete_entity(e)
+    def line_to_path(self):
+        # Write file init
+        self.dwgWrite = ezdxf.new('R2010')  # create a new DXF R2010 drawing, official DXF version name: 'AC1024'
+        mspWrite =self.dwgWrite.modelspace()  # add new entities to the model space
+
+        # Variable init
+        width = 0.26
+        xAbMax = 0 
+        yAbMax = 0 
+        xAbMin = 1000
+        yAbMin = 1000
+
+        # Layer creation
+        for layer in self.dwg.layers:
+            name = layer.dxf.name
+            lineType = layer.dxf.linetype
+            color = layer.get_color()
+
+            self.dwgWrite.layers.new(name=name, dxfattribs={'linetype': lineType, 'color': color})
+
+        # loop for path creation
+        for e in self.msp.query('LINE'):
+            
+            # finding info from read file
+            x1 = e.dxf.start[0]
+            x2 = e.dxf.end[0]
+            y1 = e.dxf.start[1]
+            y2 = e.dxf.end[1]
+            layerName = e.dxf.layer
+
+            # Calculations 
+            yDiff = y2-y1
+            yAbsDiff = abs(yDiff)
+            yDiffDiv100 = yAbsDiff/100
+
+            xDiff = x2-x1
+            xAbsDiff = abs(xDiff)
+            xDiffDiv100 = xAbsDiff/100
+
+            yMin = min(y1, y2)
+            xMin = min(x1, x2)
+
+            yMax = max(y1, y2)
+            xMax = max(x1, x2)
+
+            # Calculations for bounding box
+            if(yMin < yAbMin):
+                yAbMin = yMin
+
+            if(xMin < xAbMin):
+                xAbMin = xMin
+
+            if(yMax > yAbMax):
+                yAbMax = yMax
+
+            if(xMax > xAbMax):
+                xAbMax = xMax
+
+            # Line Cases 
+            if (x1 == x2):
+                writePoints = [(x1, yMin), (x1, yMax), ((x1+width),yMax), ((x1+width), yMin), (x1, yMin)]
+            elif (y1 == y2):
+                writePoints = [(xMin, y1), (xMin, (y1 + width)), (xMax,(y1 + width)), (xMax, y1), (xMin, y1)]
+
+            elif ((x1 < x2 and y1 < y2 ) or (x1 > x2 and y1 > y2)):
+                writePoints = [(xMin, yMin),((xMin - yDiffDiv100), (yMin + xDiffDiv100)), ((xMax - yDiffDiv100),(yMax + xDiffDiv100)), ((xMax), (yMax)), (xMin, yMin)]
+
+            elif ((x1 < x2 and y1 > y2) or (x1 > x2 and y1 < y2)):
+                writePoints = [(xMax, yMin),(xMin, yMax), ((xMin + yDiffDiv100),(yMax + xDiffDiv100)), ((xMax + yDiffDiv100), (yMin + xDiffDiv100)), (xMax, yMin)]
+
+            # Write the line
+            mspWrite.add_lwpolyline(writePoints, dxfattribs={'layer': layerName})
+
+
+        xAbMax = xAbMax + 50
+        yAbMax = yAbMax + 50
+        xAbMin = xAbMin - 50
+        yAbMin = yAbMin - 50
+        self.boxPoints = [(xAbMin, yAbMin), (xAbMin, yAbMax), (xAbMax,yAbMax), (xAbMax, yAbMin), (xAbMin, yAbMin)]
+        mspWrite.add_lwpolyline(self.boxPoints, dxfattribs={'layer': layerName})
+        
+        self.dwgWrite.saveas(self.savename)
+    def find_bry_index(self):
+        msp=self.dwgWrite.modelspace()
+        bry=list(np.array(self.boxPoints).flatten())
+
+        pts_list=[]
+        for e in msp.query('LWPOLYLINE'):
+            pts_list.append(np.array(e.get_points()))
+
+        for i in range(len(pts_list)):
+            pts_list[i]=pts_list[i][:,:2]
+            pts_list[i]=pts_list[i].flatten()
+            pts_list[i]=list(pts_list[i])
+        
+        ind=pts_list.index(bry)
+        return ind
+
+
+class post_process():
+    def __init__(self,dxf_file,wiring_path,pin_at,trace_width,iso_size,cross_size):
+        print('wiring path loaded, generating final drawing...')
+        if not dxf_file.endswith('.dxf'):
+            dxf_file+='.dxf'
+        self.dxf_file=dxf_file
+        self._wiring=wiring_path
+        # self.pin_at=pin_at
+        self.wiring=[]
+        self.dwg=ezdxf.readfile(dxf_file)
+        self.msp=self.dwg.modelspace()
+        
+        self.trace_width=trace_width #mm
+        self.iso_size=iso_size #mm
+        self.cross_cut_size=cross_size#mm
+        self.trace_cut_width=0.25 #mm
+        self.convert_unitfrom_ses()
+
+        
+        ## flatten pin_at_array
+        self.pin_at=[]
+        for module in pin_at:
+            for pin in module:
+                self.pin_at.append(pin)
+        
+        self.remove_redun_wire(0.4)
+        self.modify_wire_and_merge()
+        
+        if not self.cross_cut_size==0:
+            self.draw_cross_cut(self.cross_cut_size)
+        if trace_width==0:
+            self.draw_wires()
+            if self.iso_size!=0:
+                self.draw_rest_iso(self.iso_size,self.trace_cut_width)
+        else:
+            if self.iso_size==0:
+                raise Exception ('Isolation box size is required as long as trace width is not equal to zero')
+            else:    
+                self.draw_complete_traces()
+
+                self.draw_rest_iso(self.iso_size,self.trace_cut_width)
+
+        self.dwg.saveas('dwg_w_circuit.dxf')
+        print('drawing is ready for you to make a robot...')
+    
+    def draw_complete_traces(self):
+        self.check_wiring_branch(self.trace_width)
+        outer_helper=self.parallel_trace(self.trace_width,self.iso_size,'Circuit_Cut')
+        
+        trace_width=self.trace_width-self.trace_cut_width
+        iso_size=self.iso_size-self.trace_cut_width
+        
+        self.check_wiring_branch(trace_width)
+        self.parallel_trace(trace_width,iso_size,'Circuit_Etc')
+        trace_width-=self.trace_cut_width
+        iso_size-=self.trace_cut_width
+        
+        self.check_wiring_branch(trace_width)
+        inner_helper=self.parallel_trace(trace_width,iso_size,'Circuit_Cut')
+        for i in range(len(outer_helper)):
+            self.msp.add_line(outer_helper[i],inner_helper[i],dxfattribs={
+                'layer':'Circuit_Cut',
+                'linetype':'DASHDOT'})
+    
+    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 remove_redun_wire(self,tolerance):
+        wiring=copy.deepcopy(self.wiring)
+        self.wiring=[]
+        for path in wiring:
+            path_cp=copy.deepcopy(path)
+            for i in range(len(path_cp)-1):
+                pt1=path_cp[i]
+                pt2=path_cp[i+1]
+
+                if i<len(path_cp)-2:
+                    pt3=path_cp[i+2]
+                    if three_ptw_on_one_line(pt1,pt2,pt3):
+                        path.remove(pt2)
+
+                if distance_between_pts(pt1,pt2)<=tolerance and (not if_pts_are_vert_or_horz(pt1,pt2)) and pt1 in path and pt2 in path :
+                        path.remove(pt2)
+            if len(path)>=2:
+                self.wiring.append(path)
+    def modify_wire_and_merge(self):
+        for i in range(len(self.wiring)):
+            path=self.wiring[i]
+            endpoints=[path[0],path[-1]]
+            for j in range(len(endpoints)):
+                ept=endpoints[j]
+                if j==1:
+                    k=-1
+                    kk=-2
+                else:
+                    k=0
+                    kk=1
+                if len(path)>1:
+                    further_ept=path[kk]              
+                    for pin in self.pin_at:
+                        if point_within_pinbox(ept,pin,self.iso_size):
+                            self.wiring[i][k]=pin
+                            if point_within_pinbox(further_ept,pin,self.iso_size):
+                                self.wiring[i].pop(kk)
+                            break
+               
+        path_list=copy.deepcopy(self.wiring)
+        self.wiring=[]
+        while len(path_list)!=0:
+            merged_path=path_list[0]
+            path_list.remove(merged_path)
+            flag=True
+            while flag:
+                s=merged_path[0]
+                e=merged_path[-1]
+                flag=False
+                for restpath in path_list:
+                    s_=restpath[0]
+                    e_=restpath[-1]
+                    to_merge_copy=copy.deepcopy(restpath)
+                    #update merge path
+                    if s==s_:
+                        merged_path.remove(s)
+                        merged_path=list(reversed(merged_path))+(to_merge_copy)
+                        path_list.remove(restpath)                
+                        flag=True
+                        break
+                    if s==e_:
+                        merged_path.remove(s)
+                        merged_path=to_merge_copy+(merged_path)
+                        path_list.remove(restpath)                
+                        flag=True
+                        break
+                    if e==s_:
+                        merged_path.remove(e)
+                        merged_path=(merged_path)+(to_merge_copy)
+                        path_list.remove(restpath)                
+                        flag=True
+                        break
+                    if e==e_:
+                        merged_path.remove(e)
+                        merged_path=to_merge_copy+(list(reversed(merged_path)))
+                        path_list.remove(restpath)                
+                        flag=True
+                        break
+                    
+            self.wiring.append(merged_path)
+
+                    
+    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_Etc',
+                    'linetype':'DASHDOT'})
+
+    def check_wiring_branch(self,width):
+        
+        self.branch=[]
+        self.branch_at_interval=[]
+        self.branch_conn_at=[]
+        self.path_at_pin=[]
+        self.connected_pins=[]
+
+        
+        for i in range(len(self.wiring)):
+            path=self.wiring[i]
+            endpoints=[path[0],path[-1]]
+            for j in range(len(endpoints)):
+                ept=endpoints[j]
+                connect_flag=False
+
+                if j==1:
+                        k=-1
+                        contact_ept=path[-1]
+                        further_ept=path[-2]
+                elif j==0:
+                    k=0
+                    contact_ept=path[0]
+                    further_ept=path[1]
+                
+                for pin in self.pin_at:
+                    if distance_between_pts(ept,pin)<=(self.iso_size/2)*sqrt(2):
+                        self.connected_pins.append(pin)
+                        self.path_at_pin.append([i,k])
+                        connect_flag=True
+                        break
+                if not connect_flag:
+                    self.branch.append([i,k])
+                    #look for the interval that connectes to such path endpoint
+                    interval_flag=False
+                    for r in range(len(self.wiring)):
+                        restpath=self.wiring[r]
+                        if restpath!=path:
+                            for m in range(len(restpath)-1):
+                                pt1=restpath[m]
+                                pt2=restpath[m+1]
+                                l1=find_line_eq(pt1,pt2)
+                                if point_is_in_two_pts(ept,pt1,pt2) and if_pts_on_line(l1,ept):
+                                    
+                                    offset_lines=find_offset(l1,width)
+                                    l2=find_line_eq(contact_ept,further_ept)
+                                    dis=[]
+                                    for off_line in offset_lines:
+                                        inter=find_intersect(l2,off_line)
+                                        if type(inter)!=type(None):
+                                            dis_=distance_between_pts(further_ept,inter)
+                                            dis.append(dis_)
+                                    off_l=offset_lines[np.argmin(dis)]
+                                    off_l2in,off_l2out=find_offset(l2,width)
+                                    s_=find_intersect(off_l2in,off_l)
+                                    e_=find_intersect(off_l2out,off_l)
+                                    if distance_between_pts(pt1,s_)>distance_between_pts(pt1,e_):
+                                        s=e_
+                                        e=s_
+                                    else:
+                                        s=s_
+                                        e=e_
+                                    interval_flag=True
+                                    break
+                            if interval_flag:
+                                break
+                    if interval_flag:
+                        self.branch_at_interval.append([r,m])
+                        self.branch_conn_at.append([s,e])
+                    else:
+                        raise Exception ('path',path,k,'was detected as branch, but no connection with another path found')
+            
+        for path in self.wiring:
+            for h in range(1,len(path)-2):
+                pt1=path[h]
+                pt2=path[h+1]
+                for pin in self.pin_at:
+                    if dis_between_pt_interval(pin,pt1,pt2)<(self.iso_size/2)*sqrt(2):
+                        self.connected_pins.append(pin)
+        
+    def parallel_trace(self,width,iso_size,draw_layer):
+        wiring=copy.deepcopy(self.wiring)
+        helper_cut_list=[]
+        for path in wiring:
+            path_index=wiring.index(path)
+            path_cp=copy.deepcopy(path)
+            constrain_s,constrain_e=True,True
+            
+            if len(path)==1:
+                continue
+            ######        
+            for i in range(len(path)-1):
+                pt1=path[i][0],path[i][1]
+                pt2=path[i+1][0],path[i+1][1]
+                point_index=path_cp.index([pt1[0],pt1[1]])
+                
+                l1=find_line_eq(pt1,pt2)
+                
+                if i==0: #initalize
+                        offl1_in,offl1_out=find_offset(l1,width)
+                        
+                        if [path_index,0] in self.branch:
+                            branch_index=self.branch.index([path_index,0])
+                            [s1,s2]=self.branch_conn_at[branch_index]
+                        elif [path_index,0] in self.path_at_pin:
+                            connect_index=self.path_at_pin.index([path_index,0])
+                            pin=self.connected_pins[connect_index]
+                            s1,s2,helper_pt=self.find_iso_bry(pt1,pt2,pin,iso_size,width,draw_layer,constrain_s)
+                            helper_cut_list.append(helper_pt)
+                        else:
+                            raise Exception ('path start is neither a branch or a path connected to pin')
+
+                if i<len(path)-2: #before last line
+                    pt3=path[i+2][0],path[i+2][1]
+                    l2=find_line_eq(pt2,pt3)
+                #filter bi-sector
+                    _bi=find_bi_sec_by_pts(pt1,pt2,pt3)
+                    if len(_bi)!=1:
+                        for sector in _bi:
+                            if if_two_pt_on_diff_side(sector,pt1,pt3):
+                                bi=sector
+                    else: bi=_bi[0]
+
+                    e1=find_intersect(offl1_in,bi)
+                    e2=find_intersect(offl1_out,bi)
+                else:                                    
+                    if [path_index,-1] in self.branch:
+                        branch_index=self.branch.index([path_index,-1])
+                        [e1,e2]=self.branch_conn_at[branch_index]
+
+                    elif [path_index,-1] in self.path_at_pin:
+                        connect_index=self.path_at_pin.index([path_index,-1])
+                        pin=self.connected_pins[connect_index]
+                        e1,e2,helper_pt=self.find_iso_bry(pt2,pt1,pin,iso_size,width,draw_layer,constrain_e)
+                        helper_cut_list.append(helper_pt)
+                    else:
+                        raise Exception ('path end is neither a branch or a path connected to pin')
+                
+                if if_two_pt_on_diff_side(l1,s1,e1):
+                    e1_cp=e2
+                    e2_cp=e1
+                else:
+                    e1_cp=e1
+                    e2_cp=e2
+                
+                if [path_index,point_index] in self.branch_at_interval:
+                    branch_index=self.branch_at_interval.index([path_index,point_index])
+                    [s_sub,e_sub]=self.branch_conn_at[branch_index]
+
+                    if not if_two_pt_on_diff_side(l1,s1,s_sub):
+
+                        self.msp.add_line(s1,s_sub,dxfattribs={
+                            'layer':draw_layer,
+                            'linetype':'DASHDOT'})
+                        self.msp.add_line(e_sub,e1_cp,dxfattribs={
+                            'layer':draw_layer,
+                            'linetype':'DASHDOT'})
+                        self.msp.add_line(s2,e2_cp,dxfattribs={
+                            'layer':draw_layer,
+                            'linetype':'DASHDOT'})
+                    else:
+
+                        self.msp.add_line(s2,s_sub,dxfattribs={
+                            'layer':draw_layer,
+                            'linetype':'DASHDOT'})
+                        self.msp.add_line(e_sub,e2_cp,dxfattribs={
+                            'layer':draw_layer,
+                            'linetype':'DASHDOT'})
+                        self.msp.add_line(s1,e1_cp,dxfattribs={
+                            'layer':draw_layer,
+                            'linetype':'DASHDOT'})
+                else:
+                    self.msp.add_line(s1,e1_cp,dxfattribs={
+                        'layer':draw_layer,
+                        'linetype':'DASHDOT'})
+                    self.msp.add_line(s2,e2_cp,dxfattribs={
+                        'layer':draw_layer,
+                        'linetype':'DASHDOT'})                 
+                if i<len(path)-2:
+                    offl1_in,offl1_out=find_offset(l2,width)
+                    s1=find_intersect(offl1_in,bi)
+                    s2=find_intersect(offl1_out,bi)
+        return helper_cut_list
+    def draw_cross_cut(self,size):
+        for pin in self.pin_at:
+            cross_cut(self.msp,size,pin)
+    def find_iso_bry(self,contact_ept,further_ept,pin,size,width,draw_layer,constrain=True):
+
+        l=find_line_eq(contact_ept,further_ept)
+        parallel_traces=find_offset(l,width)
+        four_l_points=isolation_box_linepts(size,pin)
+        iso_points=isolation_box_linepts(size,pin,False)
+        #diagnal eatching helper cut
+        dis=[]
+        for point in iso_points:
+            dis_=distance_between_pts(further_ept,point)
+            dis.append(dis_)
+        diag_helper_cut_pt=iso_points[np.argmax(dis)]
+        ######
+        contact_list=[]
+        for pl in parallel_traces:
+            contact=find_contact_iso_trace(pl,four_l_points,further_ept,constrain)
+            contact_list.append(contact)
+        
+        draw_list=[contact_list[0]]
+        draw_temp=None
+        while len(iso_points)!=0:
+            dis_=[]
+            for point in iso_points:
+                dis=distance_between_pts(point,draw_list[-1])
+                dis_.append(dis)
+            closest_pt=iso_points[np.argmin(dis_)]
+
+            contact_l=np.round(find_line_eq(contact_list[0],contact_list[1]))
+            draw_l=np.round(find_line_eq(closest_pt,draw_list[-1]))
+            if tuple(contact_l)==tuple(draw_l) and point_is_in_two_pts(contact_list[1],closest_pt,draw_list[-1]):
+                draw_temp=closest_pt
+            else:
+                if not point_is_in_two_pts(closest_pt,contact_list[0],contact_list[1]):
+                    draw_list.append(closest_pt)
+            iso_points.remove(closest_pt)
+        
+        if type(draw_temp)!=type(None):
+            draw_list.append(draw_temp)
+        
+        draw_list.append(contact_list[1])
+
+        
+        for i in range(len(draw_list)-1):
+            self.msp.add_line(draw_list[i],draw_list[i+1],dxfattribs={'linetype':'DASHDOT', 'layer':draw_layer})
+
+        return contact_list[0],contact_list[1],diag_helper_cut_pt
+    def draw_rest_iso(self,iso_size,cut_width):
+        for pin in self.pin_at:
+            if not pin in self.connected_pins:
+                lines=isolation_box_linepts(iso_size,pin)
+                for l in lines:
+                    self.msp.add_line(l[0],l[1],dxfattribs={'linetype':'DASHDOT', 'layer':'Circuit_Cut'})
+                outer_helper=[lines[0][1],lines[-1][-1]]
+                
+                lines=isolation_box_linepts(iso_size-cut_width,pin)
+                for l in lines:
+                    self.msp.add_line(l[0],l[1],dxfattribs={'linetype':'DASHDOT', 'layer':'Circuit_Etc'})
+                    lines=isolation_box_linepts(iso_size,pin)
+                
+
+                lines=isolation_box_linepts(iso_size-(cut_width*2),pin)
+                for l in lines:
+                    self.msp.add_line(l[0],l[1],dxfattribs={'linetype':'DASHDOT', 'layer':'Circuit_Cut'})
+                inner_helper=[lines[0][1],lines[-1][-1]]
+                for i in range(len(outer_helper)):
+                    self.msp.add_line(outer_helper[i],inner_helper[i],dxfattribs={
+                        'layer':'Circuit_Cut',
+                        'linetype':'DASHDOT'})
+                    
+def find_contact_iso_trace(trace_line,iso_l_pts,further_ept,constrain=True):
+    inter_temp=[]
+    for l_pts in iso_l_pts:
+        pt1=l_pts[0]
+        pt2=l_pts[1]
+        l=find_line_eq(pt1,pt2)
+        inter=find_intersect(l,trace_line)
+        if type(inter)!=type(None):
+            if constrain:
+                if point_is_in_two_pts(inter,pt1,pt2):
+                    inter_temp.append(inter)
+            else:
+                inter_temp.append(inter)
+    dis_arr=[]
+    
+    for p in inter_temp:
+        dis=distance_between_pts(p,further_ept)
+        dis_arr.append(dis)
+    contact=inter_temp[np.argmin(dis_arr)]
+    return contact
+
+def isolation_box_linepts(box_size,pin_loc,return_line=True):
+    """
+    box_size= lenght of isoloation box
+    """
+    tipat=box_size/2
+    x=pin_loc[0]
+    y=pin_loc[1]
+    a=(x-tipat,y-tipat)
+    b=(x-tipat,y+tipat)
+    c=(x+tipat,y+tipat)
+    d=(x+tipat,y-tipat)
+    l1=[a,b]
+    l2=[b,c]
+    l3=[d,c]
+    l4=[a,d]
+    if return_line:
+        return [l1,l2,l3,l4]
+    else:
+        return [a,b,c,d]
+def cross_cut(msp,cross_size,pin_loc):
+    """
+    cross_size= lenght of bounding box of the cross cut
+    """
+    tipat=cross_size/2
+
+    x=pin_loc[0]
+    y=pin_loc[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={'layer':'Cut'})       
+    msp.add_line(cross_s2,cross_e2,dxfattribs={'layer':'Cut'})
+    
+def distance_between_pts(pt1,pt2):
+    x1,y1=pt1[0],pt1[1]
+    x2,y2=pt2[0],pt2[1]
+    dis= sqrt((x1-x2)**2+(y1-y2)**2)
+    return dis    
+def point_is_in_two_pts(pt,pt1,pt2,tolerance=0.05):
+   
+    x=pt[0]
+    y=pt[1]
+    x1=np.min([pt1[0],pt2[0]])-tolerance
+    x2=np.max([pt1[0],pt2[0]])+tolerance
+    y1=np.min([pt1[1],pt2[1]])-tolerance
+    y2=np.max([pt1[1],pt2[1]])+tolerance
+    if x>= x1 and x<=x2 and y>=y1 and y <=y2:
+        return True
+    else:
+        return False
+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_intersect(line_eq1,line_eq2):
+    """
+    line_equation follows same pattern as find_line_eq()
+    eq=[a,b,c,theta]
+    which refers to cy=ax+b
+    """
+    a1,b1,c1=line_eq1[0],line_eq1[1],line_eq1[2]
+    a2,b2,c2=line_eq2[0],line_eq2[1],line_eq2[2]
+    if c1==0 and c2==0:
+        return None
+    
+    if a1==a2 and c1!=0 and c2!=0:
+        #parallel lines
+        return None
+    else:
+        A=np.array([[a1,-c1],[a2,-c2]])
+        k=np.array([-b1,-b2])
+        sol=np.linalg.solve(A,k)
+        return sol
+
+def find_bi_sec_by_pts(pt1,pt2,pt3):
+    """
+    return angle bisector by inputing three points (2 lines)
+    assume pt2 is the intersect of two interval
+    line_equation follows same pattern as find_line_eq()
+    eq=[a,b,c,theta]
+    """
+    x1,x2,x3=pt1[0],pt2[0],pt3[0]
+    y1,y2,y3=pt1[1],pt2[1],pt3[1]
+    
+    if x1==x2 and x2==x3:
+        #vertical lines
+        bi=[[0,y2,1,0]]
+    elif y1==y2 and y2==y3:
+        #horizontal lines
+        bi=[[1,-x2,0,np.pi/2]]
+    else:
+        l1=find_line_eq(pt1,pt2)
+        l2=find_line_eq(pt2,pt3)
+        bi=find_angle_bisector(l1,l2)
+    return bi
+def find_angle_bisector(line_eq1,line_eq2):
+    """
+    return an array with 2 angle bisector for 2 straight lines
+    line_equation follows same pattern as find_line_eq()
+    eq=[a,b,c,theta]
+    which refers to cy=ax+b
+    """
+    theta1=line_eq1[3]
+    theta2=line_eq2[3]
+    inter_pt=find_intersect(line_eq1,line_eq2)
+   
+    theta=(theta1+theta2)/2
+    theta_=(theta1+theta2)/2 +np.pi/2
+    a=np.tan(theta)
+    a_=np.tan(theta_)
+    b=inter_pt[1]-(a*inter_pt[0])
+    b_=inter_pt[1]-(a_*inter_pt[0])
+     #to keep format consisent
+    c=1
+
+    bi1=[a,b,c,theta]
+    bi2=[a_,b_,c,theta_]
+    bi=[bi1,bi2]    
+    return bi
+def find_offset(line_eq,line_width):
+    """
+    return two lines that offset both out and in with width
+    line_equation follows same pattern as find_line_eq()
+    eq=[a,b,c,theta]
+    """
+    halfw=line_width/2
+    a,b,c,theta=line_eq[0],line_eq[1],line_eq[2],line_eq[3]
+    if c==0:
+        scale=1
+    else:
+        scale=np.cos(theta)
+    offset=halfw/scale
+    b1=b+offset
+    b2=b-offset
+    off_l1=[a,b1,c,theta]
+    off_l2=[a,b2,c,theta]
+    return off_l1,off_l2
+def if_two_pt_on_diff_side(line_eq,pt1,pt2):
+    """
+    return: booleen
+    True if two points are on different side of a line
+    line_equation follows same pattern as find_line_eq()
+    eq=[a,b,c,theta]
+    
+    """
+    a,b,c=line_eq[0],line_eq[1],line_eq[2]
+    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 c!=0:
+        _y1=a*x1+b
+        _y2=a*x2+b
+
+        if np.sign(_y1-y1)!= np.sign(_y2-y2):
+            return True
+        else:
+            return False
+    else:
+        x=-b
+        if np.sign(x1-x)!=np.sign(x2-x):
+            return True
+        else:
+            return False
+        
+def if_pts_on_line(line_eq,pt):
+    """
+    line_equation follows same pattern as find_line_eq()
+    eq=[a,b,c,theta]
+    return True if point is on the line
+    """
+    x,y=pt[0],pt[1]
+    a,b,c=line_eq[0],line_eq[1],line_eq[2]
+    if c==0 and a==1:
+        if round(x,2)==round(-b,2):
+            return True
+        else: return False
+    else:
+        if round(c*y,2)==round(a*x+b,2):
+            return True
+        else: return False
+def if_pts_are_vert_or_horz(pt1,pt2):
+    """
+    return True if the line is vertical or horizontal
+    """
+    [a,b,c,theta]=find_line_eq(pt1,pt2)
+    if c==0 or a==0:
+        return True
+def if_pts_on_interval(pt,pt1,pt2):
+    """
+    return True if pt is on the inverval pt1 to pt2
+    """
+    l=find_line_eq(pt1,pt2)
+    if if_pts_on_line(l,pt) and point_is_in_two_pts(pt,pt1,pt2):
+        return True
+    else:
+        return False
+
+def dis_between_pt_interval(pt,pt1,pt2):
+    l=find_line_eq(pt1,pt2)
+    x,y=pt[0],pt[1]
+    if if_pts_on_line(l,pt):
+        if point_is_in_two_pts(pt,pt1,pt2):
+            dis=0
+        else:
+            dis=np.min([distance_between_pts(pt,pt1),distance_between_pts(pt,pt2)])
+    else:
+        [a,b,c,theta]=l
+        if c!=0:
+            if a!=0:
+                a_=-a
+                c_=1
+                b_=y-a_*x
+                
+            else:
+                c_=0
+                a_=1
+                b_=-x
+        else:
+            a_=0
+            b_=y
+            c_=1
+        l2=[a_,b_,c_,theta]
+        inter=find_intersect(l,l2)
+        if if_pts_on_interval(inter,pt1,pt2):
+            dis=distance_between_pts(inter,pt)
+        else:
+            dis=np.min([distance_between_pts(pt,pt1),distance_between_pts(pt,pt2)])
+    return dis
+
+def three_ptw_on_one_line(pt1,pt2,pt3):
+    l1=find_line_eq(pt1,pt2)
+    if if_pts_on_line(l1,pt3):
+        return True
+
+def point_within_pinbox(pt,pin,box_size):
+    """
+    pt=further point
+    pin= pin_location
+    """
+    x,y=pt[0],pt[1]
+    size=box_size/2
+    xmin=pin[0]-size
+    xmax=pin[0]+size
+    ymin=pin[1]-size
+    ymax=pin[1]+size
+
+    if x>xmin and x<xmax and y>ymin and y<ymax:
+        return True
+    else: return False
+
diff --git a/paperbot_ee_autoroute/freeRouting.jar b/paperbot_ee_autoroute/freeRouting.jar
new file mode 100755
index 0000000000000000000000000000000000000000..300d7d06dcd89b7b63a5edec7af5cd8efaf8156f
Binary files /dev/null and b/paperbot_ee_autoroute/freeRouting.jar differ
diff --git a/paperbot_ee_autoroute/paperbot_ee.ses b/paperbot_ee_autoroute/paperbot_ee.ses
new file mode 100644
index 0000000000000000000000000000000000000000..0804ccfcafaab04041d95b5364e6112fc2872a06
--- /dev/null
+++ b/paperbot_ee_autoroute/paperbot_ee.ses
@@ -0,0 +1,209 @@
+
+(session paperbot_ee.ses
+  (base_design paperbot_ee.dsn)
+  (placement
+    (resolution um 10)
+    (component J1
+      (place J1 1150000 910000 front 270)
+    )
+    (component U1
+      (place U1 1040000 461000 front 90)
+    )
+    (component T1
+      (place T1 870000 900000 front 0)
+    )
+    (component L1
+      (place L1 670000 410000 front 90)
+    )
+    (component R1
+      (place R1 720000 410000 front 270)
+    )
+  )
+  (was_is
+  )
+  (routes 
+    (resolution um 10)
+    (parser
+      (host_cad "KiCad's Pcbnew")
+      (host_version "5.1.3-ffb9f22~84~ubuntu18.04.1")
+    )
+    (library_out 
+    )
+    (network_out 
+      (net 3v3
+        (wire
+          (path F.Cu 20000
+            1208927 769036
+            1208927 581620
+          )
+        )
+        (wire
+          (path F.Cu 20000
+            1251600 929529
+            1208927 886856
+            1208927 769036
+          )
+        )
+        (wire
+          (path F.Cu 20000
+            1208927 769036
+            889067 769036
+            889067 769037
+          )
+        )
+        (wire
+          (path F.Cu 15238
+            870000 798400
+            870000 788103
+            889067 769037
+          )
+        )
+        (wire
+          (path F.Cu 15238
+            1208927 581620
+            1205100 577793
+            1205100 575300
+          )
+        )
+        (wire
+          (path F.Cu 15238
+            1251600 973500
+            1251600 929529
+          )
+        )
+      )
+      (net GND
+        (wire
+          (path F.Cu 20000
+            897207 826443
+            824970 826443
+            670000 671473
+            670000 435400
+          )
+        )
+        (wire
+          (path F.Cu 20000
+            897207 826443
+            1104527 826443
+            1226200 948116
+          )
+        )
+        (wire
+          (path F.Cu 20000
+            897207 816057
+            897207 826443
+          )
+        )
+        (wire
+          (path F.Cu 15238
+            895400 798400
+            897207 800207
+            897207 816057
+          )
+        )
+        (wire
+          (path F.Cu 15238
+            1226200 948116
+            1226200 973500
+          )
+        )
+        (wire
+          (path F.Cu 20000
+            670000 435400
+            668555 435400
+            642308 409153
+            642308 385925
+            671949 356284
+            808268 356284
+            1001900 549916
+          )
+        )
+        (wire
+          (path F.Cu 15238
+            1001900 549916
+            1001900 575300
+          )
+        )
+      )
+      (net NET1
+        (wire
+          (path F.Cu 20000
+            837017 790817
+            825375 790817
+            720000 685442
+            720000 422700
+          )
+        )
+        (wire
+          (path F.Cu 15238
+            844600 798400
+            837017 790817
+          )
+        )
+      )
+      (net NET2
+        (wire
+          (path F.Cu 20000
+            720000 384600
+            682700 384600
+            670000 397300
+          )
+        )
+      )
+      (net SCL
+        (wire
+          (path F.Cu 20000
+            1200800 988622
+            1213751 1001573
+            1262669 1001573
+            1279703 984539
+            1279703 610226
+            1216911 547434
+            1055182 547434
+            1052700 549916
+          )
+        )
+        (wire
+          (path F.Cu 15238
+            1052700 549916
+            1052700 575300
+          )
+        )
+        (wire
+          (path F.Cu 15238
+            1200800 988622
+            1200800 973500
+          )
+        )
+      )
+      (net SDA
+        (wire
+          (path F.Cu 20000
+            1027300 549505
+            1027300 539917
+            1045031 522186
+            1227572 522186
+            1304811 599425
+            1304811 995273
+            1272940 1027144
+            1203241 1027144
+            1175400 999303
+            1175400 990546
+          )
+        )
+        (wire
+          (path F.Cu 15238
+            1175400 973500
+            1175400 990546
+          )
+        )
+        (wire
+          (path F.Cu 15238
+            1027300 575300
+            1027300 549505
+          )
+        )
+      )
+    )
+  )
+)
\ No newline at end of file
diff --git a/paperbot_ee_autoroute/read_old_paperbot.py b/paperbot_ee_autoroute/read_old_paperbot.py
new file mode 100644
index 0000000000000000000000000000000000000000..738b7317b2111289be441cd3d41802ba0ba02716
--- /dev/null
+++ b/paperbot_ee_autoroute/read_old_paperbot.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import numpy as np
+import ezdxf 
+import random
+from math import sqrt
+import copy
+
+
+class read_old_paperbot():
+    def __init__(self,dxf_file):
+        self.dwg=ezdxf.readfile(dxf_file)
+        self.msp=self.dwg.modelspace()
+        
+        self.create_layer('Cut',5)
+        self.create_layer('Fold',4)
+        # self.create_layer('Pin_temp',6)
+        self.create_layer('Circuit_Cut',6)
+        self.create_layer('Circuit_Etc',8)
+        
+        self.layer_rearrange() ## reagrrange cut and fold lines to corresponding layers
+        self.remove_wheels() ##remove wheel drawings for this design, no need to call for other designs
+        self.center_arr=self.find_pin()
+        
+        # cross_cut(self.msp,2,self.center_arr)
+        self.savename='dwg_w_layers.dxf'
+        self.dwg.saveas(self.savename)
+    
+    def create_layer(self,layer_name,color):
+        if not layer_name in self.dwg.layers:
+            self.dwg.layers.new(name=layer_name,dxfattribs={'color':color})
+
+    def layer_rearrange(self):
+        # put fold lines to the new layer 'Fold'
+        # put cut lines to the new layer 'Cut
+        for e in self.msp.query('LINE'):
+            if e.dxf.color!=5:
+                e.dxf.layer='Fold'
+            else:
+                e.dxf.layer='Cut'
+    def remove_wheels(self):
+        #no need to call this function for other design
+        for e in self.msp.query('Arc LINE[layer=="Cut"]'):
+            if e.dxf.start[0]>=179:
+                self.msp.delete_entity(e)
+
+    def find_pin(self):
+        tolerance=0.05 #mm
+        pincutsize_big=3 #mm
+        pincutsize_small=1 #mm
+        pin_edge_arr=np.array([[0,0],[0,0]]).reshape(1,2,2)
+        center_arr=np.array([[0,0]])
+
+        for e in self.msp.query('LINE[layer=="Cut"]'):
+            length= sqrt((e.dxf.start[0]-e.dxf.end[0])**2+(e.dxf.start[1]-e.dxf.end[1])**2)
+            if length > pincutsize_small-tolerance and length < pincutsize_big + tolerance:
+                # e.dxf.layer='Pin_temp'
+                self.msp.delete_entity(e) #08/13/2019 remove all pins in mechanical desing
+                if e.dxf.start[1]==e.dxf.end[1]: ##this line is horizontal
+                    pin_edge=np.array([e.dxf.start,e.dxf.end])[:,:2]
+                    pin_edge_arr=np.concatenate((pin_edge_arr,pin_edge.reshape(1,2,2)),axis=0)
+        pin_edge_arr=pin_edge_arr[1:]
+        # print(pin_edge_arr)
+        
+        for i in range(len(pin_edge_arr)):
+            for e in np.delete(pin_edge_arr,i,axis=0):
+                if pin_edge_arr[i][0,1]-e[0,1]==1.0:
+                    center_x=pin_edge_arr[i][0,0]-0.5
+                    center_y=pin_edge_arr[i][0,1]-0.5
+                    center=np.array([center_x,center_y]).reshape(1,2)
+                    center_arr=np.append(center_arr,center,axis=0)
+
+        center_arr=np.unique(center_arr,axis=0)
+        center_arr=center_arr[1:]
+        return center_arr
diff --git a/paperbot_ee_autoroute/roco_dsn.py b/paperbot_ee_autoroute/roco_dsn.py
new file mode 100644
index 0000000000000000000000000000000000000000..0edbdaa1e0d93607b19a73b866a5b23405c5e2ef
--- /dev/null
+++ b/paperbot_ee_autoroute/roco_dsn.py
@@ -0,0 +1,227 @@
+#!/usr/bin/env python3
+# import sys
+# sys.path.insert(1,'/home/jingyan/Documents/summer_intern_lemur/roco_electrical/dsn_python')
+
+import dsnwritier
+import csv
+class brd_design():
+    def __init__(self,boundary_inx,libpath,netlist_csv,savename='paperbot_ee',dwgfile='dwg_for_autorouter.dxf'):
+        print('generating board desng file (dsn) ......')
+        self.dwgfile=dwgfile
+        self.boundary_inx=boundary_inx
+        self.libpath=libpath
+        self.savename=savename
+
+        self.module_list=[
+            ['mpu-9250.kicad_mod','J1',[115000,91000],'front',270],
+            ['ESP12F-Devkit-V3.kicad_mod','U1',[104000,46100],'front',90],
+            ['touch_sensor.kicad_mod','T1',[87000,90000],'front',0],
+            ['LED_D3.0mm.kicad_mod','L1',[67000,41000],'front',90],
+            ['Resistor.kicad_mod','R1',[72000,41000],'front',270],
+            
+        ]
+        self.netlist=[
+            ['3v3',['U1-16','J1-1','T1-2']],
+            ['GND',['U1-24','J1-2','L1-2','T1-3']],
+            ['NET1',['T1-1','R1-1']],
+            ['NET2',['R1-2','L1-1']],
+            ['SCL',['J1-3','U1-22']],
+            ['SDA',['J1-4','U1-23']]
+        ]
+        # self.netlist=[
+        #     ['3v3',['U1-16','J1-1','T1-2']],
+        #     ['GND',['U1-24','J1-2','L1-2','T1-3']],
+ 
+        # ]
+        self.netclass_list=[
+            ['default',['3v3','GND','NET1','NET2','SCL','SDA'],'',2000,500]
+        ]
+        # self.module_list,self.netlist,self.netclass_list=self.read_from_csv(netlist_csv)
+        
+        self.brd_general()
+        self.boundary,self.keepout=self.load_drawing()
+        self.image,self.padstack=self.load_lib()
+        self.placement=self.place_modules()
+        self.net,self.netclass=self.create_net()
+
+        self.write_dsn()
+        self.get_pin_loc()
+
+    def brd_general(self):
+        self.brd=dsnwritier.Dsn()
+        self.layers=[
+            dsnwritier.Layer('F.Cu')
+            # dsnwritier.Layer('B.Cu'),
+            # dsnwritier.Layer('F.Mask'),
+            # dsnwritier.Layer('B.Mask')
+        ]
+        
+        self.parsers= dsnwritier.Parser()
+        
+        self.rule=dsnwritier.Rule()
+        clearance=[
+            dsnwritier.Clearance(1000.1),
+            dsnwritier.Clearance(1000.1,'default_smd'),
+            dsnwritier.Clearance(1000,'smd_smd')]
+        self.rule.clearance=clearance
+
+
+    def load_drawing(self):
+        """
+        create class: bourdry and keepout 
+        from drawing file
+        """
+        dwg=(dsnwritier.load_drawing(self.dwgfile)).load_polygon()
+        bdata=dwg.pop(self.boundary_inx)
+        kdata=dwg
+        keepout=[]
+        for i in range(len(kdata)):
+            keep_class=dsnwritier.Keepout(kdata[i])
+            keepout.append(keep_class)
+        boundary=dsnwritier.Boundary(bdata)
+        return boundary,keepout
+
+    def load_lib(self):
+        """
+        create class: footprint (image) and padstack
+        from library path and modules
+        """
+
+        image=[]
+        
+        for i in range(len(self.module_list)):
+            mod=self.module_list[i]
+            img=dsnwritier.Footprint.from_file(self.libpath+mod[0],ref=mod[1])
+            image.append(img)
+            if i==0:  
+                padstack=dsnwritier.Padstack.auto_detect(self.libpath+mod[0])
+            else:
+                padstack+=dsnwritier.Padstack.auto_detect(self.libpath+mod[0])
+        
+        return image,padstack
+    def place_modules(self):
+        placement=[]
+        for mod in self.module_list:
+            place=dsnwritier.Placement(name=mod[0],ref1=mod[1],at=mod[2],flip=mod[3],orientation=mod[4])
+            placement.append(place)
+        return placement
+    def create_net(self):
+        nets_list=[]
+        netclass_list=[]
+        for net in self.netlist:
+            nets=dsnwritier.Net(net_name=net[0],conn_pins=net[1])
+            nets_list.append(nets)
+        for netclass in self.netclass_list:  
+            netclasses=dsnwritier.NetClass(net_class_name=netclass[0],
+                                            nets_name=netclass[1],
+                                            via_name=netclass[2],
+                                            width=netclass[3],
+                                            clearance=netclass[4])
+            netclass_list.append(netclasses)
+        return nets_list,netclass_list
+    def write_dsn(self):
+        self.brd.parser=self.parsers
+        self.brd.rule=self.rule
+        self.brd.layers=self.layers
+        self.brd.boundary=self.boundary
+        self.brd.keepout=self.keepout
+        self.brd.image=self.image
+        self.brd.padstack=self.padstack
+        self.brd.placement=self.placement
+        self.brd.net=self.net
+        self.brd.netclass=self.netclass
+        self.brd.to_file(self.savename)
+        print('dsn file generated.....')
+    def get_pin_loc(self):
+        from pykicad.module import Module as mod
+        import numpy as np
+        from math import sqrt
+        self.pins_at=[]
+
+        for img in self.module_list:
+            module=mod.from_file(self.libpath+img[0])
+            pin_at_arr=[]
+            module_at=np.array([img[2][0],img[2][1]])/1000
+            flip=1
+            orientation=img[4]
+            theta=orientation/180*np.pi
+            if img[3]=='back':
+                flip=-1
+                orientation=img[4]
+            for i in range(len(module.pads)):
+                pad=module.pads[i]
+                pin_at_relative=np.array(pad.at) ##mm
+                x,y=pin_at_relative[0]*flip,-pin_at_relative[1]
+                x_=x*np.cos(theta)-y*np.sin(theta)
+                y_=y*np.cos(theta)+x*np.sin(theta)
+                pin_at_relative=np.array([x_,y_])
+                pin_at_abs=list(pin_at_relative+module_at)
+                pin_at_arr.append(pin_at_abs)
+            self.pins_at.append(pin_at_arr)
+    
+    def read_from_csv(self,csv_file):
+        with open(csv_file, mode='r') as csv_file:
+            csv_reader = csv.DictReader(csv_file, delimiter = ';')
+            myDict = list(csv_reader)
+
+        numOfRows = len(myDict)
+        keys = myDict[0].keys()
+
+        moduleCols = 4
+        netCols = 2
+        netclassCols = 5
+
+        moduleRows = 0
+        netRows = 0
+        netclassRows = 0 
+
+        moduleHeaders = ['Module name','Ref','Position','Orientation']
+        netHeaders = ['Connection name','Pins']
+        netclassHeaders = ['Netclass','Net connections','Via name','Width','Clearance']
+
+        for x in range(numOfRows):
+            if myDict[x].get('Module name') != '' and myDict[x].get('Module name') != 'None':
+                moduleRows += 1
+
+            if myDict[x].get('Connection name') != '' and myDict[x].get('Connection name') != None:
+                netRows += 1
+
+            if myDict[x].get('Netclass') != '' and myDict[x].get('Netclass') != None:
+                netclassRows +=1
+
+
+        moduleList = [[0 for i in range(moduleCols)] for j in range(moduleRows)]
+        netList =  [[0 for i in range(netCols)] for j in range(netRows)]
+        netclassList = [[0 for i in range(netclassCols)] for j in range(netclassRows)]
+
+        for x in range(moduleRows):
+                for y in range(moduleCols):
+                    header = moduleHeaders[y]
+                    moduleList[x][y] = myDict[x].get(header)
+
+        for x in range(netRows):
+                for y in range(netCols):
+                    header = netHeaders[y]
+                    netList[x][y] = myDict[x].get(header)
+
+        for x in range(netclassRows):
+                for y in range(netclassCols):
+                    header = netclassHeaders[y]
+                    netclassList[x][y] = myDict[x].get(header)
+
+        return moduleList,netList,netclassList
+
+
+# libpath='/home/jingyan/Documents/summer_intern_lemur/roco_electrical/libraries/kicad-ESP8266/ESP8266.pretty/'
+# dwgfile='/home/jingyan/Documents/summer_intern_lemur/roco_electrical/dsn_line_test.dxf'
+# a= brd_design(dwgfile,0,libpath,'paperbot_ee')       
+
+        
+
+
+        
+
+
+
+
+
diff --git a/paperbot_ee_autoroute/roco_electrical.py b/paperbot_ee_autoroute/roco_electrical.py
new file mode 100644
index 0000000000000000000000000000000000000000..165de8c195a7ce568e73fd4917b82318b896e5ef
--- /dev/null
+++ b/paperbot_ee_autoroute/roco_electrical.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+
+def roco_add_ee(me_drawing,netlist_csv,module_libpath,dsnwritier_dir,
+                trace_width=2,iso_size=2,cross_size=0.66):
+    """
+    This module call script 'roco_dsn.py' to generate a DSN file for auto_router. 
+    An interface will pop up for the user to confirm wiring design,
+    if a user does not want to change anything, one can just simply close the window.
+    Routing information will be stored automatically in the same directory.
+    The routing information will be read and draw the corresponding line on the dxf file
+
+    (Please make sure the ME drawing has everything need to cut (obstacles) in "Cut" layer)
+    
+    Tested Python Version: 3.6
+
+    path information needed:
+
+    - mechanical design drawing file 
+    - A csv file describes your netlist
+    - modules library dir
+    - dsnwritier(sesreader) dir
+    """
+    ##########general lib############
+    import sys
+    import subprocess
+    import os
+    sys.path.insert(1,dsnwritier_dir)
+    from sesreader import find_wire
+    from roco_dsn import brd_design
+    from ee_dwg_processing import pre_process, post_process
+
+    ready_for_autorouter=pre_process(me_drawing) #get dwg_for_autorouter.dxf
+    ee_design=brd_design(ready_for_autorouter.bry_ind,module_libpath,netlist_csv)#,dwgfile='dwg_for_autorouter_temp.dxf') #get paperbot_ee.dsn 
+    subprocess.call(['java','-jar','freeRouting.jar','-de',ee_design.savename+'.dsn','-white','-s'])
+    wiring_path=find_wire(ee_design.savename,ee_design.pins_at) #read ses file
+    post_process(me_drawing,wiring_path,ee_design.pins_at,trace_width,iso_size,cross_size) # draw for fabrication 
+
+    os.remove(ready_for_autorouter.savename)
+    os.remove(ee_design.savename+'.dsn')
+    # os.remove(ee_design.savename+'.ses')
+    os.remove(ee_design.savename+'.rules')
+
+def test():
+    from read_old_paperbot import read_old_paperbot
+    dsnwritier_dir='/home/jingyan/Documents/summer_intern_lemur/roco_electrical/dsn_python'
+    module_libpath='/home/jingyan/Documents/summer_intern_lemur/roco_electrical/libraries/kicad-ESP8266/ESP8266.pretty/'
+    dwg_path='/home/jingyan/Documents/summer_intern_lemur/roco_electrical/graph-silhouette.dxf'
+    net_csv='/home/jingyan/Downloads/moduleList.csv'
+    old=read_old_paperbot(dwg_path) #get dwg_w_layer.dxf
+    me_dwg=old.savename
+    roco_add_ee(me_dwg,net_csv,module_libpath,dsnwritier_dir)
+
+test()
\ No newline at end of file