Check via footprints lazily in the grid search

Profiling the rc4 sense board at resolution 2 put half the time in
_via_placeable: every expanded cell checked a 5x5 via footprint on both
layers, for vias the search almost never takes. Queue a layer change as a
candidate and check its footprint (memoised per search) only when it is
popped. A check can only rule a via out, never make it cheaper, so this
cannot change which route is found.

src/freeroute/route/grid_router.py

@@ -376,8 +376,26 @@ class GridRouter:
             g_score[s] = self._stub_cost(conn.a, s)
             heapq.heappush(open_heap, (g_score[s] + self._h(s, goal_cell), s))
 
+        # Via footprints are checked lazily: a layer change goes on the heap as
+        # a candidate and is checked only if it is popped. Most never are (a
+        # via costs a lot), and the check is the single most expensive thing
+        # the search does. A check can only rule a via out, never make it
+        # cheaper, so deferring it cannot change which route is found.
+        via_ok: dict[Cell, bool] = {}
         while open_heap:
-            _, current = heapq.heappop(open_heap)
+            entry = heapq.heappop(open_heap)
+            if len(entry) == 4:  # a deferred via: (f, target, g, source)
+                _, target, g_via, source = entry
+                if g_via >= g_score.get(target, math.inf):
+                    continue
+                cell = (target[0], target[1])
+                ok = via_ok.get(cell)
+                if ok is None:
+                    ok = via_ok[cell] = self._via_placeable(cell, net_no, conns)
+                if ok:
+                    self._relax(source, target, g_via, goal_cell, g_score, came_from, open_heap)
+                continue
+            current = entry[1]
             if current in goals:
                 return _reconstruct(came_from, current)
             cx, cy, cl = current
@@ -397,13 +415,15 @@ class GridRouter:
                 self._relax(
                     current, nxt, base + step + enter, goal_cell, g_score, came_from, open_heap
                 )
-            if len(self.layers) > 1 and self._via_placeable((cx, cy), net_no, conns):
+            if len(self.layers) > 1:
+                g_via = base + self.via_cost
                 for layer in self.layers:
                     if layer == cl:
                         continue
                     nxt = (cx, cy, layer)
-                    self._relax(
-                        current, nxt, base + self.via_cost, goal_cell, g_score, came_from, open_heap
+                    if g_via < g_score.get(nxt, math.inf):
+                        heapq.heappush(
+                            open_heap, (g_via + self._h(nxt, goal_cell), nxt, g_via, current)
                         )
         return None