router: create new `Router` object, a wrapper over `Layout`

src/board/board.rs

@@ -15,7 +15,7 @@ use crate::{
         Layout, NodeIndex,
     },
     math::Circle,
-    router::{navmesh::Navmesh, Route, RouterError},
+    router::{navmesh::Navmesh, route::Route, Router, RouterError},
 };
 
 #[derive(Debug)]
@@ -129,8 +129,8 @@ impl<M: MesadataTrait> Board<M> {
             .unwrap()
             .to_string();
 
-        let mut router = Route::new_from_navmesh(self.layout_mut(), navmesh, 100.0);
+        let mut router = Router::new(self.layout_mut());
-        let result = router.route_band(self.layout_mut(), 100.0);
+        let result = router.route(navmesh.source(), navmesh.target(), width);
 
         if let Ok(band) = result {
             self.pinname_pair_to_band

src/router/mod.rs

@@ -2,7 +2,8 @@ pub mod astar;
 pub mod draw;
 pub mod navmesh;
 pub mod route;
+pub mod router;
 pub mod trace;
 pub mod tracer;
 
-//pub use router::*;
+pub use router::*;

src/router/route.rs

@@ -27,141 +27,28 @@ use crate::{
         },
         trace::Trace,
         tracer::Tracer,
+        Router, RouterAstarStrategy, RouterError, RouterStatus,
     },
 };
 
-#[derive(Error, Debug, Clone)]
-#[error("routing failed")]
-pub enum RouterError {
-    Navmesh(#[from] NavmeshError),
-    Astar(#[from] AstarError),
-}
-
 pub struct Route {
     astar: Astar<Navmesh, f64>,
     trace: Trace,
 }
 
-struct RouterAstarStrategy<'a, R: RulesTrait> {
-    pub tracer: Tracer<'a, R>,
-    pub trace: &'a mut Trace,
-    pub target: FixedDotIndex,
-}
-
-impl<'a, R: RulesTrait> RouterAstarStrategy<'a, R> {
-    pub fn new(tracer: Tracer<'a, R>, trace: &'a mut Trace, target: FixedDotIndex) -> Self {
-        Self {
-            tracer,
-            trace,
-            target,
-        }
-    }
-
-    fn bihead_length(&self) -> f64 {
-        self.head_length(&self.trace.head)
-            + match self.trace.head.face() {
-                DotIndex::Fixed(..) => 0.0,
-                DotIndex::Loose(face) => {
-                    self.head_length(&self.tracer.layout.drawing().guide().rear_head(face))
-                }
-            }
-    }
-
-    fn head_length(&self, head: &Head) -> f64 {
-        match head {
-            Head::Bare(..) => 0.0,
-            Head::Cane(cane_head) => {
-                self.tracer
-                    .layout
-                    .drawing()
-                    .primitive(cane_head.cane.seg)
-                    .shape()
-                    .length()
-                    + self
-                        .tracer
-                        .layout
-                        .drawing()
-                        .primitive(cane_head.cane.bend)
-                        .shape()
-                        .length()
-            }
-        }
-    }
-}
-
-impl<'a, R: RulesTrait> AstarStrategy<Navmesh, f64, BandFirstSegIndex>
-    for RouterAstarStrategy<'a, R>
-{
-    fn is_goal(
-        &mut self,
-        navmesh: &Navmesh,
-        vertex: NavvertexIndex,
-        tracker: &PathTracker<Navmesh>,
-    ) -> Option<BandFirstSegIndex> {
-        let new_path = tracker.reconstruct_path_to(vertex);
-        let width = self.trace.width;
-
-        self.tracer
-            .rework_path(navmesh, &mut self.trace, &new_path[..], width)
-            .unwrap();
-
-        self.tracer
-            .finish(navmesh, &mut self.trace, self.target, width)
-            .ok()
-    }
-
-    fn edge_cost(&mut self, navmesh: &Navmesh, edge: NavmeshEdgeReference) -> Option<f64> {
-        if edge.target().petgraph_index() == self.target.petgraph_index() {
-            return None;
-        }
-
-        let prev_bihead_length = self.bihead_length();
-
-        let width = self.trace.width;
-        let result = self
-            .trace
-            .step(&mut self.tracer, navmesh, edge.target(), width);
-
-        let probe_length = self.bihead_length() - prev_bihead_length;
-
-        if result.is_ok() {
-            self.trace.undo_step(&mut self.tracer);
-            Some(probe_length)
-        } else {
-            None
-        }
-    }
-
-    fn estimate_cost(&mut self, navmesh: &Navmesh, vertex: NavvertexIndex) -> f64 {
-        let start_point = PrimitiveIndex::from(navmesh.node_weight(vertex).unwrap().node)
-            .primitive(self.tracer.layout.drawing())
-            .shape()
-            .center();
-        let end_point = self
-            .tracer
-            .layout
-            .drawing()
-            .primitive(self.target)
-            .shape()
-            .center();
-
-        end_point.euclidean_distance(&start_point)
-    }
-}
-
 impl Route {
     pub fn new(
-        layout: &mut Layout<impl RulesTrait>,
+        router: &mut Router<impl RulesTrait>,
         from: FixedDotIndex,
         to: FixedDotIndex,
         width: f64,
     ) -> Result<Self, RouterError> {
-        let navmesh = Navmesh::new(layout, from, to)?;
+        let navmesh = Navmesh::new(router.layout(), from, to)?;
-        Ok(Self::new_from_navmesh(layout, navmesh, width))
+        Ok(Self::new_from_navmesh(router, navmesh, width))
     }
 
     pub fn new_from_navmesh(
-        layout: &mut Layout<impl RulesTrait>,
+        router: &mut Router<impl RulesTrait>,
         navmesh: Navmesh,
         width: f64,
     ) -> Self {
@@ -169,7 +56,7 @@ impl Route {
         let source_navvertex = navmesh.source_navvertex();
         let target = navmesh.target();
 
-        let mut tracer = Tracer::new(layout);
+        let mut tracer = Tracer::new(router.layout_mut());
         let mut trace = tracer.start(source, source_navvertex, width);
 
         let mut strategy = RouterAstarStrategy::new(tracer, &mut trace, target);
@@ -178,24 +65,17 @@ impl Route {
         Self { astar, trace }
     }
 
-    pub fn route_band(
+    pub fn step(
         &mut self,
-        layout: &mut Layout<impl RulesTrait>,
+        router: &mut Router<impl RulesTrait>,
-        _width: f64,
+    ) -> Result<RouterStatus, RouterError> {
-    ) -> Result<BandFirstSegIndex, RouterError> {
+        let tracer = Tracer::new(router.layout_mut());
-        let tracer = Tracer::new(layout);
         let target = self.astar.graph.target();
         let mut strategy = RouterAstarStrategy::new(tracer, &mut self.trace, target);
 
-        loop {
+        match self.astar.step(&mut strategy)? {
-            let status = match self.astar.step(&mut strategy) {
+            AstarStatus::Running => Ok(RouterStatus::Running),
-                Ok(status) => status,
+            AstarStatus::Finished(_cost, _path, band) => Ok(RouterStatus::Finished(band)),
-                Err(err) => return Err(err.into()),
-            };
-
-            if let AstarStatus::Finished(_cost, _path, band) = status {
-                return Ok(band);
-            }
         }
     }
 }

src/router/router.rs

@@ -0,0 +1,190 @@
+use geo::EuclideanDistance;
+use petgraph::{data::DataMap, visit::EdgeRef};
+use thiserror::Error;
+
+use crate::{
+    drawing::{
+        band::BandFirstSegIndex,
+        dot::{DotIndex, FixedDotIndex},
+        graph::{MakePrimitive, PrimitiveIndex},
+        guide::{Head, HeadTrait},
+        primitive::MakePrimitiveShape,
+        rules::RulesTrait,
+    },
+    geometry::{primitive::PrimitiveShapeTrait, shape::ShapeTrait},
+    graph::GetPetgraphIndex,
+    layout::Layout,
+    router::{
+        astar::{AstarError, AstarStatus, AstarStrategy, PathTracker},
+        navmesh::{Navmesh, NavmeshEdgeReference, NavmeshError, NavvertexIndex},
+        route::Route,
+        trace::Trace,
+        tracer::Tracer,
+    },
+};
+
+#[derive(Error, Debug, Clone)]
+#[error("routing failed")]
+pub enum RouterError {
+    Navmesh(#[from] NavmeshError),
+    Astar(#[from] AstarError),
+}
+
+pub enum RouterStatus {
+    Running,
+    Finished(BandFirstSegIndex),
+}
+
+pub struct RouterAstarStrategy<'a, R: RulesTrait> {
+    pub tracer: Tracer<'a, R>,
+    pub trace: &'a mut Trace,
+    pub target: FixedDotIndex,
+}
+
+impl<'a, R: RulesTrait> RouterAstarStrategy<'a, R> {
+    pub fn new(tracer: Tracer<'a, R>, trace: &'a mut Trace, target: FixedDotIndex) -> Self {
+        Self {
+            tracer,
+            trace,
+            target,
+        }
+    }
+
+    fn bihead_length(&self) -> f64 {
+        self.head_length(&self.trace.head)
+            + match self.trace.head.face() {
+                DotIndex::Fixed(..) => 0.0,
+                DotIndex::Loose(face) => {
+                    self.head_length(&self.tracer.layout.drawing().guide().rear_head(face))
+                }
+            }
+    }
+
+    fn head_length(&self, head: &Head) -> f64 {
+        match head {
+            Head::Bare(..) => 0.0,
+            Head::Cane(cane_head) => {
+                self.tracer
+                    .layout
+                    .drawing()
+                    .primitive(cane_head.cane.seg)
+                    .shape()
+                    .length()
+                    + self
+                        .tracer
+                        .layout
+                        .drawing()
+                        .primitive(cane_head.cane.bend)
+                        .shape()
+                        .length()
+            }
+        }
+    }
+}
+
+impl<'a, R: RulesTrait> AstarStrategy<Navmesh, f64, BandFirstSegIndex>
+    for RouterAstarStrategy<'a, R>
+{
+    fn is_goal(
+        &mut self,
+        navmesh: &Navmesh,
+        vertex: NavvertexIndex,
+        tracker: &PathTracker<Navmesh>,
+    ) -> Option<BandFirstSegIndex> {
+        let new_path = tracker.reconstruct_path_to(vertex);
+        let width = self.trace.width;
+
+        self.tracer
+            .rework_path(navmesh, &mut self.trace, &new_path[..], width)
+            .unwrap();
+
+        self.tracer
+            .finish(navmesh, &mut self.trace, self.target, width)
+            .ok()
+    }
+
+    fn edge_cost(&mut self, navmesh: &Navmesh, edge: NavmeshEdgeReference) -> Option<f64> {
+        if edge.target().petgraph_index() == self.target.petgraph_index() {
+            return None;
+        }
+
+        let prev_bihead_length = self.bihead_length();
+
+        let width = self.trace.width;
+        let result = self
+            .trace
+            .step(&mut self.tracer, navmesh, edge.target(), width);
+
+        let probe_length = self.bihead_length() - prev_bihead_length;
+
+        if result.is_ok() {
+            self.trace.undo_step(&mut self.tracer);
+            Some(probe_length)
+        } else {
+            None
+        }
+    }
+
+    fn estimate_cost(&mut self, navmesh: &Navmesh, vertex: NavvertexIndex) -> f64 {
+        let start_point = PrimitiveIndex::from(navmesh.node_weight(vertex).unwrap().node)
+            .primitive(self.tracer.layout.drawing())
+            .shape()
+            .center();
+        let end_point = self
+            .tracer
+            .layout
+            .drawing()
+            .primitive(self.target)
+            .shape()
+            .center();
+
+        end_point.euclidean_distance(&start_point)
+    }
+}
+
+pub struct Router<'a, R: RulesTrait> {
+    layout: &'a mut Layout<R>,
+}
+
+impl<'a, R: RulesTrait> Router<'a, R> {
+    pub fn new(layout: &'a mut Layout<R>) -> Self {
+        Self { layout }
+    }
+
+    pub fn route(
+        &mut self,
+        from: FixedDotIndex,
+        to: FixedDotIndex,
+        width: f64,
+    ) -> Result<BandFirstSegIndex, RouterError> {
+        let mut route = self.route_walk(from, to, width)?;
+
+        loop {
+            let status = match route.step(self) {
+                Ok(status) => status,
+                Err(err) => return Err(err),
+            };
+
+            if let RouterStatus::Finished(band) = status {
+                return Ok(band);
+            }
+        }
+    }
+
+    pub fn route_walk(
+        &mut self,
+        from: FixedDotIndex,
+        to: FixedDotIndex,
+        width: f64,
+    ) -> Result<Route, RouterError> {
+        Route::new(self, from, to, width)
+    }
+
+    pub fn layout_mut(&mut self) -> &mut Layout<R> {
+        &mut self.layout
+    }
+
+    pub fn layout(&self) -> &Layout<R> {
+        &self.layout
+    }
+}