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Commit eb613dfe authored by Jingyan Ling's avatar Jingyan Ling
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parallel trace finally working

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README.md
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...@@ -13,6 +13,13 @@ ...@@ -13,6 +13,13 @@
- Separate file `paperbot_draw` to a general useful file `roco_ee_dwg_processing.py` and operations specifically for paperbot `paperbot_draw.py` - 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. - 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 ### 08/09/2019
- Potential problem: - Potential problem:
......
journal_media/parallel_trace.png 0 → 100644
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journal_media/parallel_trace.png

8.98 KiB

paperbot_ee_autoroute/__pycache__/paperbot_draw.cpython-36.pyc
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paperbot_ee_autoroute/__pycache__/roco_ee_dwg_processing.cpython-36.pyc 0 → 100644
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File added
paperbot_ee_autoroute/paperbot_ee.rules
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− 1
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...@@ -11,7 +11,7 @@ ...@@ -11,7 +11,7 @@
(via_costs 50) (via_costs 50)
(plane_via_costs 5) (plane_via_costs 5)
(start_ripup_costs 100) (start_ripup_costs 100)
(start_pass_no 91) (start_pass_no 104)
(layer_rule F.Cu (layer_rule F.Cu
(active on) (active on)
(preferred_direction vertical) (preferred_direction vertical)
......
paperbot_ee_autoroute/roco_ee_dwg_processing.py
+ 118
− 51
View file @ eb613dfe
...@@ -39,7 +39,7 @@ class post_process(): ...@@ -39,7 +39,7 @@ class post_process():
# self.draw_wires() # self.draw_wires()
self.parallel_trace(1) self.parallel_trace(1)
self.dwg.saveas('route_text.dxf') self.dwg.saveas('route_test.dxf')
def convert_unitfrom_ses(self): def convert_unitfrom_ses(self):
for path in self._wiring: for path in self._wiring:
...@@ -54,66 +54,64 @@ class post_process(): ...@@ -54,66 +54,64 @@ class post_process():
'linetype':'DASHDOT'}) 'linetype':'DASHDOT'})
def parallel_trace(self,width): def parallel_trace(self,width):
halfw=width/2
for path in self.wiring: for path in self.wiring:
for i in range(len(path)-1): for i in range(len(path)-1):
start_x,start_y=path[i][0],path[i][1] pt1=path[i][0],path[i][1]
end_x,end_y=path[i+1][0],path[i+1][1] pt2=path[i+1][0],path[i+1][1]
theta=self.find_lind_eq(path[i],path[i+1])[3] l1=find_line_eq(pt1,pt2)
sinw=np.sin(theta)*halfw
cosw=np.cos(theta)*halfw
s1i=[start_x-sinw,start_y+cosw]
s1o=[start_x+sinw,start_y-cosw]
e1i=[end_x-sinw,end_y+cosw]
e1o=[end_x+sinw,end_y-cosw]
line1i=self.find_lind_eq(s1i,e1i)
line1o=self.find_lind_eq(s1o,e1o)
if i==0:
s1=s1i
s2=s1o
else:
s1=e1
s2=e2
if i<len(path)-2: if i<len(path)-2:
next_x,next_y=path[i+2][0],path[i+2][1] pt3=path[i+2][0],path[i+2][1]
theta2=self.find_lind_eq(path[i+1],path[i+2])[3] l2=find_line_eq(pt2,pt3)
sinw2=np.sin(theta2)*halfw
cosw2=np.cos(theta2)*halfw #filter bi-sector
_bi=find_angle_bisector(l1,l2)
s2i=[end_x-sinw2,end_y+cosw2] for sector in _bi:
s2o=[end_x+sinw2,end_y-cosw2] if if_two_pt_on_diff_side(sector,pt1,pt3):
e2i=[next_x-sinw2,next_y+cosw2] bi=sector
e2o=[next_x+sinw2,next_y-cosw2]
line2i=find_lind_eq(s2i,e2i)
line2o=find_lind_eq(s2o,e2o)
Ainteri=np.array([[line1i[0],-line1i[2]],[line2i[0],-line2i[2]]])
binteri=np.array([-line1i[1],-line2i[1]])
Aintero=np.array([[line1o[0],-line1o[2]],[line2o[0],-line2o[2]]])
bintero=np.array([-line1o[1],-line2o[1]])
e1=np.linalg.solve(Ainteri,binteri) if i==0:
e2=np.linalg.solve(Aintero,bintero) offl1_in,offl1_out=find_offset(l1,width)
if l1[2]==0:
else: s1=[pt1[0]-width/2,pt1[1]]
#from last end point to this end s2=[pt1[0]+width/2,pt1[1]]
e1=[end_x-sinw,end_y+cosw] else:
e2=[end_x+sinw,end_y-cosw] s1=[pt1[0],offl1_in[0]*pt1[0]+offl1_in[1]]
s2=[pt1[0],offl1_out[0]*pt1[0]+offl1_out[1]]
offl2_in,offl2_out=find_offset(l2,width)
e1=find_intersect(offl1_in,bi)
e2=find_intersect(offl1_out,bi)
else:
if l1[2]==0:
e1=[pt2[0]-width/2,pt2[1]]
e2=[pt2[0]+width/2,pt2[1]]
else:
e1=[pt2[0],offl1_in[0]*pt2[0]+offl1_in[1]]
e2=[pt2[0],offl1_out[0]*pt2[0]+offl1_out[1]]
self.msp.add_line(s1i,e1i,dxfattribs={
self.msp.add_line(s1,e1,dxfattribs={
'layer':'Circuit', 'layer':'Circuit',
'linetype':'DASHDOT'}) 'linetype':'DASHDOT'})
self.msp.add_line(s1o,e1o,dxfattribs={ self.msp.add_line(s2,e2,dxfattribs={
'layer':'Circuit', 'layer':'Circuit',
'linetype':'DASHDOT'}) 'linetype':'DASHDOT'})
if i<len(path)-2:
if list(e1)==list(find_intersect(offl2_out,bi)):
offl1_out,offl1_in=find_offset(l2,width)
else:
offl1_in,offl1_out=find_offset(l2,width)
s1=find_intersect(offl1_in,bi)
s2=find_intersect(offl1_out,bi)
def find_line_eq(pt1,pt2): def find_line_eq(pt1,pt2):
""" """
input: two points on a line input: two points on a line
...@@ -129,7 +127,7 @@ def find_line_eq(pt1,pt2): ...@@ -129,7 +127,7 @@ def find_line_eq(pt1,pt2):
x2,y2=pt1[0],pt1[1] x2,y2=pt1[0],pt1[1]
if x1==x2: if x1==x2:
theta=-np.pi/2 theta=np.pi/2
#x= number #x= number
a=1 a=1
b=-x1 b=-x1
...@@ -143,11 +141,80 @@ def find_line_eq(pt1,pt2): ...@@ -143,11 +141,80 @@ def find_line_eq(pt1,pt2):
c=1 c=1
return a,b,c,theta 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]
A=np.array([[a1,-c1],[a2,-c2]])
k=np.array([-b1,-b2])
sol=np.linalg.solve(A,k)
return sol
def find_angle_bisector(line_eq1,line_eq2): 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() line_equation follows same pattern as find_line_eq()
eq=[a,b,c,theta] eq=[a,b,c,theta]
which refers to cy=ax+b which refers to cy=ax+b
""" """
theta1=line_eq1[3]
\ No newline at end of file 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]
assume bi-sector (line-eq) is not a vertical line (c!=0)
"""
a,b=line_eq[0],line_eq[1]
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]
_y1=a*x1+b
_y2=a*x2+b
if np.sign(_y1-y1)!= np.sign(_y2-y2):
return True
else:
return False
paperbot_ee_autoroute/route_text.dxf → paperbot_ee_autoroute/route_test.dxf
+ 74
− 290
View file @ eb613dfe
...@@ -9,7 +9,7 @@ AC1015 ...@@ -9,7 +9,7 @@ AC1015
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