feat: Implement TopoNavmesh DualOuter-DualOuter extraction

This also fixes a sign bug in LineIntersection calculation

crates/topola-egui/src/app.rs

@@ -176,6 +176,7 @@ impl eframe::App for App {
             ctx,
             &mut self.translator,
             self.content_channel.0.clone(),
+            &mut self.error_dialog,
             &mut self.viewport,
             self.maybe_workspace.as_mut(),
         );

crates/topola-egui/src/menu_bar.rs

@@ -17,6 +17,7 @@ use topola::{
 use crate::{
     actions::Actions,
     app::{execute, handle_file},
+    error_dialog::ErrorDialog,
     translator::Translator,
     viewport::Viewport,
     workspace::Workspace,
@@ -63,6 +64,7 @@ impl MenuBar {
         ctx: &egui::Context,
         tr: &mut Translator,
         content_sender: Sender<Result<SpecctraDesign, SpecctraLoadingError>>,
+        error_dialog: &mut ErrorDialog,
         viewport: &mut Viewport,
         maybe_workspace: Option<&mut Workspace>,
     ) -> Result<(), InvokerError> {
@@ -287,6 +289,7 @@ impl MenuBar {
                     ) {
                     } else if workspace_activities_enabled {
                         fn schedule<F: FnOnce(Selection) -> Command>(
+                            error_dialog: &mut ErrorDialog,
                             workspace: &mut Workspace,
                             op: F,
                         ) {
@@ -306,11 +309,13 @@ impl MenuBar {
                                     .0
                                     .retain(|i| i.layer == active_layer);
                             }
-                            workspace.interactor.schedule(op(selection));
+                            if let Err(err) = workspace.interactor.schedule(op(selection)) {
+                                error_dialog.push_error("tr-module-invoker", format!("{}", err));
+                            }
                         }
                         let opts = self.autorouter_options;
                         if actions.edit.remove_bands.consume_key_triggered(ctx, ui) {
-                            schedule(workspace, |selection| {
+                            schedule(error_dialog, workspace, |selection| {
                                 Command::RemoveBands(selection.band_selection)
                             })
                         } else if actions.route.topo_autoroute.consume_key_triggered(ctx, ui) {
@@ -325,15 +330,17 @@ impl MenuBar {
                                     .layer_layername(active_layer)
                                     .expect("unknown active layer")
                                     .to_string();
-                                schedule(workspace, |selection| Command::TopoAutoroute {
+                                schedule(error_dialog, workspace, |selection| {
+                                    Command::TopoAutoroute {
                                         selection: selection.pin_selection,
                                         allowed_edges: BTreeSet::new(),
                                         active_layer,
                                         routed_band_width: opts.router_options.routed_band_width,
+                                    }
                                 });
                             }
                         } else if actions.route.autoroute.consume_key_triggered(ctx, ui) {
-                            schedule(workspace, |selection| {
+                            schedule(error_dialog, workspace, |selection| {
                                 Command::Autoroute(selection.pin_selection, opts)
                             });
                         } else if actions
@@ -341,7 +348,7 @@ impl MenuBar {
                             .compare_detours
                             .consume_key_triggered(ctx, ui)
                         {
-                            schedule(workspace, |selection| {
+                            schedule(error_dialog, workspace, |selection| {
                                 Command::CompareDetours(selection.pin_selection, opts)
                             });
                         } else if actions
@@ -349,7 +356,7 @@ impl MenuBar {
                             .measure_length
                             .consume_key_triggered(ctx, ui)
                         {
-                            schedule(workspace, |selection| {
+                            schedule(error_dialog, workspace, |selection| {
                                 Command::MeasureLength(selection.band_selection)
                             });
                         } else if actions

src/autorouter/autorouter.rs

@@ -44,8 +44,8 @@ pub enum AutorouterError {
     Navmesh(#[from] NavmeshError),
     #[error("routing failed: {0}")]
     Thetastar(#[from] ThetastarError),
-    #[error(transparent)]
+    #[error("TopoNavmesh generation failed: {0}")]
-    Spade(#[from] spade::InsertionError),
+    TopoNavmeshGeneration(#[from] ng::NavmeshCalculationError),
     #[error("could not place via")]
     CouldNotPlaceVia(#[from] Infringement),
     #[error("could not remove band")]

src/autorouter/invoker.rs

@@ -176,9 +176,9 @@ impl<M: AccessMesadata + Clone> Invoker<M> {
         &mut self,
         command: Command,
     ) -> Result<ExecutionStepper<M>, InvokerError> {
-        let execute = self.dispatch_command(&command);
+        let execute = self.dispatch_command(&command)?;
         self.ongoing_command = Some(command);
-        execute
+        Ok(execute)
     }
 
     #[debug_requires(self.ongoing_command.is_none())]

src/layout/layout.rs

@@ -7,7 +7,7 @@ use core::iter;
 use contracts_try::debug_ensures;
 use derive_getters::Getters;
 use enum_dispatch::enum_dispatch;
-use geo::Point;
+use geo::{Coord, Line, Point};
 use planar_incr_embed::RelaxedPath;
 use rstar::AABB;
 
@@ -42,7 +42,7 @@ use crate::{
         poly::{add_poly_with_nodes_intern, MakePolygon, PolyWeight},
         via::{Via, ViaWeight},
     },
-    math::{LineIntersection, NormalLine, RotationSense},
+    math::{intersect_linestring_and_beam, LineIntersection, NormalLine, RotationSense},
 };
 
 /// Represents a weight for various compounds
@@ -379,20 +379,12 @@ impl<R: AccessRules> Layout<R> {
         }
     }
 
-    // TODO: computation of bands between outer node and direction towards "outside"
+    fn bands_between_positions_internal(
-
-    /// Finds all bands on `layer` between `left` and `right`
-    /// (usually assuming `left` and `right` are neighbors in a Delaunay triangulation)
-    /// and returns them ordered from `left` to `right`.
-    pub fn bands_between_nodes(
         &self,
         layer: usize,
-        left: NodeIndex,
+        left_pos: Point,
-        right: NodeIndex,
+        right_pos: Point,
-    ) -> impl Iterator<Item = (BandUid, LooseIndex)> {
+    ) -> impl Iterator<Item = (f64, BandUid, LooseIndex)> + '_ {
-        assert_ne!(left, right);
-        let left_pos = self.node_shape(left).center();
-        let right_pos = self.node_shape(right).center();
         let ltr_line = geo::Line {
             start: left_pos.into(),
             end: right_pos.into(),
@@ -406,11 +398,10 @@ impl<R: AccessRules> Layout<R> {
         orig_hline.make_normal_unit();
         let orig_hline = orig_hline;
         let location_denom = orig_hline.segment_interval(&ltr_line);
-        let location_start = location_denom.start();
+        let location_start = *location_denom.start();
-        let location_denom = location_denom.end() - location_denom.start();
+        let location_denom = *location_denom.end() - *location_denom.start();
 
-        let mut bands: Vec<_> = self
+        self.drawing
-            .drawing
             .rtree()
             .locate_in_envelope_intersecting(&{
                 let aabb_init = AABB::from_corners(
@@ -432,7 +423,7 @@ impl<R: AccessRules> Layout<R> {
                 let shape = prim.primitive(&self.drawing).shape();
                 (loose, shape)
             })
-            .filter_map(|(loose, shape)| {
+            .filter_map(move |(loose, shape)| {
                 let band_uid = self.drawing.loose_band_uid(loose).ok()?;
                 let loose_hline = orig_hline.orthogonal_through(&match shape {
                     PrimitiveShape::Seg(seg) => {
@@ -461,6 +452,22 @@ impl<R: AccessRules> Layout<R> {
                     .contains(&location)
                     .then_some((location, band_uid, loose))
             })
+    }
+
+    /// Finds all bands on `layer` between `left` and `right`
+    /// (usually assuming `left` and `right` are neighbors in a Delaunay triangulation)
+    /// and returns them ordered from `left` to `right`.
+    pub fn bands_between_nodes(
+        &self,
+        layer: usize,
+        left: NodeIndex,
+        right: NodeIndex,
+    ) -> impl Iterator<Item = (BandUid, LooseIndex)> {
+        assert_ne!(left, right);
+        let left_pos = self.node_shape(left).center();
+        let right_pos = self.node_shape(right).center();
+        let mut bands: Vec<_> = self
+            .bands_between_positions_internal(layer, left_pos, right_pos)
             .filter(|(_, band_uid, _)| {
                 // filter entries which are connected to either lhs or rhs (and possibly both)
                 let (bts1, bts2) = band_uid.into();
@@ -482,6 +489,49 @@ impl<R: AccessRules> Layout<R> {
             .map(|(_, band_uid, loose)| (band_uid, loose))
     }
 
+    /// Finds all bands on `layer` between direction `left` and node `right`
+    /// and returns them ordered from `left` to `right`.
+    pub fn bands_between_node_and_boundary(
+        &self,
+        layer: usize,
+        left: Coord,
+        right: NodeIndex,
+    ) -> Option<impl Iterator<Item = (BandUid, LooseIndex)>> {
+        // First, decode the `left` direction into a point on the boundary
+        let right_pos = self.node_shape(right).center();
+        let left_pos = intersect_linestring_and_beam(
+            self.drawing.boundary().exterior(),
+            &Line {
+                start: right_pos.0,
+                end: right_pos.0 + left,
+            },
+        )?;
+
+        let mut bands: Vec<_> = self
+            .bands_between_positions_internal(layer, left_pos, right_pos)
+            .filter(|(_, band_uid, _)| {
+                // filter entries which are connected to rhs
+                let (bts1, bts2) = band_uid.into();
+                let (bts1, bts2) = (bts1.petgraph_index(), bts2.petgraph_index());
+                let geometry = self.drawing.geometry();
+                [(bts1, right), (bts2, right)]
+                    .iter()
+                    .all(|&(x, y)| !geometry.is_joined_with(x, y))
+            })
+            .collect();
+        bands.sort_by(|a, b| f64::total_cmp(&a.0, &b.0));
+
+        // TODO: handle "loops" of bands, or multiple primitives from the band crossing the segment
+        // both in the case of "edge" of a primitive/loose, and in case the band actually goes into a segment
+        // and then again out of it.
+
+        Some(
+            bands
+                .into_iter()
+                .map(|(_, band_uid, loose)| (band_uid, loose)),
+        )
+    }
+
     fn does_compound_have_core(&self, primary: NodeIndex, core: DotIndex) -> bool {
         let core: PrimitiveIndex = core.into();
         match primary {

src/math/mod.rs

@@ -3,7 +3,7 @@
 // SPDX-License-Identifier: MIT
 
 use geo::algorithm::line_measures::{Distance, Euclidean};
-use geo::{geometry::Point, point, Line};
+use geo::{point, Line, LineString, Point};
 pub use specctra_core::math::{Circle, PointWithRotation};
 
 mod cyclic_search;
@@ -102,8 +102,8 @@ impl NormalLine {
         let apt = geo::point! { x: a.x, y: a.y };
         let bpt = geo::point! { x: b.x, y: b.y };
         let det = perp_dot_product(apt, bpt);
-        let rpx = -b.y * a.offset + a.y * b.offset;
+        let rpx = b.y * a.offset - a.y * b.offset;
-        let rpy = b.x * a.offset - a.x * b.offset;
+        let rpy = -b.x * a.offset + a.x * b.offset;
 
         if det.abs() > ALMOST_ZERO {
             LineIntersection::Point(geo::point! { x: rpx, y: rpy } / det)
@@ -302,6 +302,16 @@ pub fn intersect_line_and_beam(line1: &Line, beam2: &Line) -> Option<Point> {
     }
 }
 
+/// Returns `Some(p)` when `p` lies in the intersection of a linestring and a beam
+pub fn intersect_linestring_and_beam(linestring: &LineString, beam: &Line) -> Option<Point> {
+    for line in linestring.lines() {
+        if let Some(pt) = intersect_line_and_beam(&line, beam) {
+            return Some(pt);
+        }
+    }
+    None
+}
+
 /// Returns `true` the point `p` is between the supporting lines of vectors
 /// `from` and `to`.
 pub fn between_vectors(p: Point, from: Point, to: Point) -> bool {
@@ -446,4 +456,22 @@ mod tests {
             None
         );
     }
+
+    #[test]
+    fn intersect_line_and_beam02() {
+        let pt = intersect_line_and_beam(
+            &Line {
+                start: geo::coord! { x: 140., y: -110. },
+                end: geo::coord! { x: 160., y: -110. },
+            },
+            &Line {
+                start: geo::coord! { x: 148., y: -106. },
+                end: geo::coord! { x: 148., y: -109. },
+            },
+        )
+        .unwrap();
+
+        approx::assert_abs_diff_eq!(pt.x(), 148.);
+        approx::assert_abs_diff_eq!(pt.y(), -110.);
+    }
 }

src/router/ng/mod.rs

@@ -8,7 +8,7 @@ use pie::{
 };
 pub use planar_incr_embed as pie;
 
-use geo::geometry::{LineString, Point};
+use geo::{Coord, LineString, Point};
 use rstar::AABB;
 use std::{
     collections::{BTreeMap, BTreeSet},
@@ -274,10 +274,27 @@ impl EvalException {
     }
 }
 
+#[derive(Clone, Debug, thiserror::Error)]
+pub enum NavmeshCalculationError {
+    #[error("Layer contains too few nodes to generate meaningful navmesh")]
+    NotEnoughNodes,
+
+    #[error("Unable to find boundary from node {node:?}, direction {direction:?}")]
+    UnableToFindBoundary {
+        node: FixedDotIndex,
+        direction: Coord,
+    },
+
+    #[error(transparent)]
+    Insertion(#[from] spade::InsertionError),
+}
+
+/// NOTE: this only works if the layer has ≥ 3 nodes
+// TODO: handle the case with 2 nodes on the layer specifically.
 pub fn calculate_navmesh<R: AccessRules>(
     board: &Board<R>,
     active_layer: usize,
-) -> Result<PieNavmesh, spade::InsertionError> {
+) -> Result<PieNavmesh, NavmeshCalculationError> {
     use pie::NavmeshIndex::*;
     use spade::Triangulation;
 
@@ -302,24 +319,34 @@ pub fn calculate_navmesh<R: AccessRules>(
             .collect(),
     )?;
 
+    if triangulation.num_inner_faces() == 0 {
+        log::warn!("calculate_navmesh: not enough nodes");
+        return Err(NavmeshCalculationError::NotEnoughNodes);
+    }
+
     let mut navmesh = navmesh::NavmeshSer::<PieNavmeshBase>::from_triangulation(&triangulation);
 
     let barrier2: Arc<[RelaxedPath<_, _>]> =
         Arc::from(vec![RelaxedPath::Weak(()), RelaxedPath::Weak(())]);
 
-    // populate DualInner-Dual* routed traces
+    let barrier0: Arc<[RelaxedPath<_, _>]> = Arc::from(vec![]);
-    for value in navmesh.edges.values_mut() {
+
-        if let (Some(lhs), Some(rhs)) = (value.0.lhs, value.0.rhs) {
+    log::debug!("boundary = {:?}", board.layout().drawing().boundary());
-            value.1 = barrier2.clone();
+
+    // populate Dual*-Dual* routed traces
+    for (key, value) in &mut navmesh.edges {
         let wrap = |dot| GenericNode::Primitive(PrimitiveIndex::FixedDot(dot));
+        match (value.0.lhs, value.0.rhs) {
+            (Some(lhs), Some(rhs)) => {
+                value.1 = barrier2.clone();
                 let bands = board
                     .layout()
                     .bands_between_nodes_with_alignment(active_layer, wrap(lhs), wrap(rhs))
                     .map(|i| match i {
                         RelaxedPath::Weak(()) => RelaxedPath::Weak(()),
-                    RelaxedPath::Normal(band_uid) => {
+                        RelaxedPath::Normal(band_uid) => RelaxedPath::Normal(
-                        RelaxedPath::Normal(*board.bands_by_id().get_by_right(&band_uid).unwrap())
+                            *board.bands_by_id().get_by_right(&band_uid).unwrap(),
-                    }
+                        ),
                     })
                     .collect::<Vec<_>>();
 
@@ -328,11 +355,106 @@ pub fn calculate_navmesh<R: AccessRules>(
                     value.1 = Arc::from(bands);
                 }
             }
+            (None, Some(rhs)) => {
+                value.1 = barrier0.clone();
+                let direction = {
+                    let (prev_key, next_key) = key.into();
+                    let prev_dir = navmesh.nodes[prev_key]
+                        .open_direction
+                        .expect("expected DualOuter entry");
+                    let next_dir = navmesh.nodes[next_key]
+                        .open_direction
+                        .expect("expected DualOuter entry");
+                    Coord {
+                        x: (prev_dir.x + next_dir.x) / 2.0,
+                        y: (prev_dir.y + next_dir.y) / 2.0,
                     }
-    // TODO: insert fixed and outer routed traces/bands into the navmesh
+                };
-    // see also: https://codeberg.org/topola/topola/issues/166
+                let bands = match board.layout().bands_between_node_and_boundary(
-    // due to not handling outer routed traces/bends,
+                    active_layer,
-    // the above code might produce an inconsistent navmesh
+                    direction,
+                    wrap(rhs),
+                ) {
+                    None => {
+                        log::warn!("calculate_navmesh: unable to find boundary from node {:?}, direction {:?}", rhs, direction);
+                        continue;
+                        /*
+                        return Err(NavmeshCalculationError::UnableToFindBoundary {
+                            node: rhs,
+                            direction,
+                        });
+                        */
+                    }
+                    Some(x) => {
+                        log::debug!("calculate_navmesh: successfully found boundary from node {:?}, direction {:?}", rhs, direction);
+                        x.map(|(band_uid, _)| {
+                            RelaxedPath::Normal(
+                                *board.bands_by_id().get_by_right(&band_uid).unwrap(),
+                            )
+                        })
+                        .collect::<Vec<_>>()
+                    }
+                };
+
+                if bands != *barrier0 {
+                    log::debug!("navmesh generated with {:?} = {:?}", value, &bands);
+                    value.1 = Arc::from(bands);
+                }
+            }
+            (Some(lhs), None) => {
+                value.1 = barrier0.clone();
+                let direction = {
+                    let (prev_key, next_key) = key.into();
+                    let prev_dir = navmesh.nodes[prev_key]
+                        .open_direction
+                        .expect("expected DualOuter entry");
+                    let next_dir = navmesh.nodes[next_key]
+                        .open_direction
+                        .expect("expected DualOuter entry");
+                    Coord {
+                        x: (prev_dir.x + next_dir.x) / 2.0,
+                        y: (prev_dir.y + next_dir.y) / 2.0,
+                    }
+                };
+                let mut bands = match board.layout().bands_between_node_and_boundary(
+                    active_layer,
+                    direction,
+                    wrap(lhs),
+                ) {
+                    None => {
+                        log::warn!("calculate_navmesh: unable to find boundary from node {:?}, direction {:?}", lhs, direction);
+                        continue;
+                        /*
+                        return Err(NavmeshCalculationError::UnableToFindBoundary {
+                            node: rhs,
+                            direction,
+                        });
+                        */
+                    }
+                    Some(x) => {
+                        log::debug!("calculate_navmesh: successfully found boundary from node {:?}, direction {:?}", lhs, direction);
+                        x.map(|(band_uid, _)| {
+                            RelaxedPath::Normal(
+                                *board.bands_by_id().get_by_right(&band_uid).unwrap(),
+                            )
+                        })
+                        .collect::<Vec<_>>()
+                    }
+                };
+                bands.reverse();
+
+                if bands != *barrier0 {
+                    log::debug!("navmesh generated with {:?} = {:?}", value, &bands);
+                    value.1 = Arc::from(bands);
+                }
+            }
+            (None, None) => {
+                // nothing to do
+            }
+        }
+    }
+
+    // TODO: insert fixed routed traces/bands into the navmesh
 
     // populate Primal-Dual* routed traces
     let dual_ends: BTreeMap<_, _> = navmesh