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Merge remote-tracking branch 'origin/HEAD' into Sara

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SaraP
2021-05-28 16:54:07 +02:00
parent d77102539a 8c7ee22703
commit 01ee329431
10 changed files with 109 additions and 18 deletions
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EgtMachKernel.rc
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MachMgr.h
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@@ -1,7 +1,7 @@
//----------------------------------------------------------------------------
// EgalTech 2015-2021
//----------------------------------------------------------------------------
// File : MachMgr.h Data : 17.03.21 Versione : 2.3c1
// File : MachMgr.h Data : 24.05.21 Versione : 2.3e3
// Contenuto : Dichiarazione della classe MachMgr.
//
//
@@ -441,7 +441,7 @@ class MachMgr : public IMachMgr
bool GetOperationNewName( std::string& sName) const ;
const ToolData* GetMachiningToolData( void) const ;
// Simulation
bool SimAddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, double dPar2, double dPar3) ;
bool SimAddCollisionObj( int nInd, int nFrameId, int nType, const Vector3d& vtMove, double dPar1, double dPar2, double dPar3) ;
bool SimExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType) ;
bool SimOnCollision( int nCdInd, int nObjInd, int& nErr) ;
// Machine
MachMgrSimulation.cpp
+2 -2
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@@ -150,13 +150,13 @@ MachMgr::SimExit( void)
//----------------------------------------------------------------------------
bool
MachMgr::SimAddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, double dPar2, double dPar3)
MachMgr::SimAddCollisionObj( int nInd, int nFrameId, int nType, const Vector3d& vtMove, double dPar1, double dPar2, double dPar3)
{
// verifico simulatore
if ( m_pSimul == nullptr)
return false ;
// aggiungo un oggetto da verificare per la collisione con il grezzo
return m_pSimul->AddCollisionObj( nInd, nFrameId, nType, dPar1, dPar2, dPar3) ;
return m_pSimul->AddCollisionObj( nInd, nFrameId, nType, vtMove, dPar1, dPar2, dPar3) ;
}
//----------------------------------------------------------------------------
Machine.h
+1
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@@ -332,6 +332,7 @@ class Machine
static int LuaEmtSetLastError( lua_State* L) ;
static int LuaEmtSetWarning( lua_State* L) ;
static int LuaEmtAddCollisionObj( lua_State* L) ;
static int LuaEmtAddCollisionObjEx( lua_State* L) ;
static int LuaEmtExecCollisionCheck( lua_State* L) ;
static int LuaEmtOnCollision( lua_State* L) ;
} ;
MachineLua.cpp
+33 -1
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@@ -122,6 +122,8 @@ Machine::LuaInit( const string& sMachineName)
m_LuaMgr.RegisterFunction( "EmtSetWarning", Machine::LuaEmtSetWarning) ;
// registro la funzione per aggiungere un oggetto da verificare per la collisione in simulazione
m_LuaMgr.RegisterFunction( "EmtAddCollisionObj", Machine::LuaEmtAddCollisionObj) ;
// registro la funzione estesa per aggiungere un oggetto da verificare per la collisione in simulazione
m_LuaMgr.RegisterFunction( "EmtAddCollisionObjEx", Machine::LuaEmtAddCollisionObjEx) ;
// registro la funzione di esecuzione della verifica di collisione in simulazione
m_LuaMgr.RegisterFunction( "EmtExecCollisionCheck", Machine::LuaEmtExecCollisionCheck) ;
// registro la funzione di gestione della collisione in simulazione
@@ -1202,7 +1204,37 @@ Machine::LuaEmtAddCollisionObj( lua_State* L)
if ( m_pMchLua == nullptr)
return luaL_error( L, " Unknown Machine") ;
// assegno i dati
bool bOk = ( m_pMchLua->m_pMchMgr != nullptr && m_pMchLua->m_pMchMgr->SimAddCollisionObj( nInd, nFrameId, nType, dPar1, dPar2, dPar3)) ;
bool bOk = ( m_pMchLua->m_pMchMgr != nullptr && m_pMchLua->m_pMchMgr->SimAddCollisionObj( nInd, nFrameId, nType, Vector3d(), dPar1, dPar2, dPar3)) ;
// assegno risultato
LuaSetParam( L, bOk) ;
return 1 ;
}
//----------------------------------------------------------------------------
int
Machine::LuaEmtAddCollisionObjEx( lua_State* L)
{
// 7 parametri : nInd, nFrameId, nType, vtMove, dPar1, dPar2, dPar3
int nInd ;
LuaCheckParam( L, 1, nInd)
int nFrameId ;
LuaCheckParam( L, 2, nFrameId)
int nType ;
LuaCheckParam( L, 3, nType)
Vector3d vtMove ;
LuaCheckParam( L, 4, vtMove)
double dPar1 ;
LuaCheckParam( L, 5, dPar1)
double dPar2 ;
LuaCheckParam( L, 6, dPar2)
double dPar3 ;
LuaCheckParam( L, 7, dPar3)
LuaClearStack( L) ;
// verifico ci sia una macchina attiva
if ( m_pMchLua == nullptr)
return luaL_error( L, " Unknown Machine") ;
// assegno i dati
bool bOk = ( m_pMchLua->m_pMchMgr != nullptr && m_pMchLua->m_pMchMgr->SimAddCollisionObj( nInd, nFrameId, nType, vtMove, dPar1, dPar2, dPar3)) ;
// assegno risultato
LuaSetParam( L, bOk) ;
return 1 ;
MachineStruConst.h
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@@ -104,6 +104,8 @@ const std::string MCH_EXIT = "T" ;
const std::string MCH_ZMAXONROT = "ZMAXONROT" ;
// Info di testa per una extra risalita in Z
const std::string MCH_ZEXTRA = "ZEXTRA" ;
// Info di testa per abilitare rotazione a Zmax
const std::string MCH_ROTATZMAX = "ROTATZMAX" ;
// Info di testa per dichiarazione Home Z in basso
const std::string MCH_ZHOMEDOWN = "ZHOMEDOWN" ;
// Info di testa per dichiarazione Da Sopra
Operation.cpp
+43 -4
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@@ -1758,6 +1758,7 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
DBLVECTOR vAxVal2 = vAxVal ; vAxVal2[2] = dHomeZ ;
DBLVECTOR vAxIni2 = vAxIni ; vAxIni2[2] = dHomeZ ;
if ( ! TestCollisionAvoid( vAxVal2, vAxIni2)) {
// se ammessa risalita aggiuntiva
double dExtraZ, dMaxAngV ;
if ( GetExtraZ( dHomeZ, dExtraZ, dMaxAngV)) {
if ( vAxVal2.size() < 5 || ( abs( vAxVal2[4]) < dMaxAngV && abs( vAxIni2[4]) < dMaxAngV)) {
@@ -1772,14 +1773,37 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
else
bToZmax = true ;
}
// se altrimenti ammessa rotazione a Zmax e richiesta rotazione
else if ( GetRotationAtZmax() &&
(( vAxVal2.size() >= 4 && abs( vAxVal2[3] - vAxIni2[3]) > 5) ||
( vAxVal2.size() >= 5 && abs( vAxVal2[4] - vAxIni2[4]) > 5))) {
// verifico se va bene rotazione assi iniziale e poi movimento
DBLVECTOR vAxMid2 = vAxVal2 ;
vAxMid2[3] = vAxIni2[3] ;
if ( vAxVal2.size() >= 5)
vAxMid2[4] = vAxIni2[4] ;
if ( TestCollisionAvoid( vAxVal2, vAxMid2) &&
TestCollisionAvoid( vAxMid2, vAxIni2) &&
pPrevOp->AddRise( vAxVal2) &&
pPrevOp->AddSpecialRise( vAxMid2, true, GDB_ID_NULL, 5)) {
vAxVal = vAxMid2 ;
bMaxZ = true ;
}
else
return false ;
}
else
return false ;
}
}
else
return false ;
// Se richiesta risalita a Zmax
if ( bToZmax || ForcedZmax( vAxVal, vAxIni)) {
// Se già a Zmax
if ( bMaxZ) {
// non devo fare alcunché
}
// se altrimenti richiesta risalita a Zmax
else if ( bToZmax || ForcedZmax( vAxVal, vAxIni)) {
// cancello eventuale risalita parziale della lavorazione precedente
pPrevOp->RemoveRise() ;
// aggiungo risalita a Zmax
@@ -2240,7 +2264,7 @@ Operation::AddRise( DBLVECTOR& vAxVal, double dDelta, int nClPathId, bool bZHome
//----------------------------------------------------------------------------
bool
Operation::AddSpecialRise( const DBLVECTOR& vAxVal, bool bOk, int nClPathId)
Operation::AddSpecialRise( const DBLVECTOR& vAxVal, bool bOk, int nClPathId, int nFlag)
{
if ( m_pMchMgr == nullptr || m_pGeomDB == nullptr)
return false ;
@@ -2286,7 +2310,8 @@ Operation::AddSpecialRise( const DBLVECTOR& vAxVal, bool bOk, int nClPathId)
pCam->SetAxes( ( bOk ? CamData::AS_OK : CamData::AS_OUTSTROKE), vAxVal) ;
pCam->SetMoveType( 0) ;
pCam->SetFeed( 0) ;
pCam->SetFlag( 0) ;
pCam->SetFlag( nFlag) ;
pCam->SetFlag2( 0) ;
// associo questo oggetto a quello geometrico
m_pGeomDB->SetUserObj( nId, Release( pCam)) ;
@@ -2495,6 +2520,20 @@ Operation::GetExtraZ( double dSafeZ, double& dExtraZ, double& dMaxAngV) const
return false ;
}
//----------------------------------------------------------------------------
bool
Operation::GetRotationAtZmax( void) const
{
// Recupero macchina corrente
Machine* pMch = ( m_pMchMgr != nullptr ? m_pMchMgr->GetCurrMachine() : nullptr) ;
if ( pMch == nullptr)
return 0 ;
// Se testa con Info ROTATZMAX la recupero e restituisco abilitazione rotazione a Zmax
int nHeadId = pMch->GetCurrHead() ;
int nVal = 0 ;
return ( m_pGeomDB->GetInfo( nHeadId, MCH_ROTATZMAX, nVal) && nVal != 0) ;
}
//----------------------------------------------------------------------------
bool
Operation::ForcedZmax( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd) const
Operation.h
+2 -1
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@@ -107,11 +107,12 @@ class Operation : public IUserObj
bool ToolChangeNeeded( const Operation& Op1, const Operation& Op2) const ;
bool RemoveClimb( int nClPathId) ;
bool AddRise( DBLVECTOR& vAxVal, double dDelta = - 1, int nClPathId = GDB_ID_NULL, bool bZHomeDown = false) ;
bool AddSpecialRise( const DBLVECTOR& vAxVal, bool bOk = true, int nClPathId = GDB_ID_NULL) ;
bool AddSpecialRise( const DBLVECTOR& vAxVal, bool bOk = true, int nClPathId = GDB_ID_NULL, int nFlag = 0) ;
bool RemoveRise( int nClPathId = GDB_ID_NULL) ;
bool AddHome( void) ;
bool CalcDeltaZForHeadRotation( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, double& dDeltaZ) const ;
bool GetExtraZ( double dSafeZ, double& dExtraZ, double& dMaxAngV) const ;
bool GetRotationAtZmax( void) const ;
bool ForcedZmax( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd) const ;
int GetUserNotesZmax( void) const ;
bool GetZHomeDown( void) const ;
Simulator.cpp
+19 -4
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@@ -24,6 +24,7 @@
#include "/EgtDev/Include/EGkCDeBoxClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeCylClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeSpheClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeConeFrustumClosedSurfTm.h"
#include "/EgtDev/Include/EGkVolZmap.h"
#include "/EgtDev/Include/EGkStringUtils3d.h"
#include "/EgtDev/Include/EXeConst.h"
@@ -1231,6 +1232,10 @@ Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
// esecuzione controlli di collisione
bool bOk = true ;
Frame3d frObj = pGeoFrame->GetFrame() ;
if ( ! m_CollObj[j].vtMove.IsSmall())
frObj.Translate( m_CollObj[j].vtMove.x * frObj.VersX() +
m_CollObj[j].vtMove.y * frObj.VersY() +
m_CollObj[j].vtMove.z * frObj.VersZ()) ;
Frame3d frParent ; m_pGeomDB->GetGlobFrame( m_CollObj[j].nFrameId, frParent) ;
frObj.LocToLoc( frParent, frCd) ;
if ( m_CollObj[j].nType == MCH_SIM_COB_BOX) {
@@ -1252,6 +1257,12 @@ Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
else
bOk = ! CDeSpheClosedSurfTm( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist, *pSTM) ;
}
else if ( m_CollObj[j].nType == MCH_SIM_COB_CONE) {
if ( pVZM != nullptr)
bOk = pVZM->AvoidConeFrustum( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist) ;
else
bOk = ! CDeConeFrustumClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist, *pSTM) ;
}
if ( ! bOk) {
nCdInd = i ;
nObjInd = j ;
@@ -1752,7 +1763,7 @@ Simulator::OnResetMachine( void)
//----------------------------------------------------------------------------
bool
Simulator::AddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, double dPar2, double dPar3)
Simulator::AddCollisionObj( int nInd, int nFrameId, int nType, const Vector3d& vtMove, double dPar1, double dPar2, double dPar3)
{
// verifiche sui parametri
if ( nInd <= 0 || nFrameId <= GDB_ID_NULL)
@@ -1763,17 +1774,21 @@ Simulator::AddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, dou
return false ;
break ;
case MCH_SIM_COB_CYL :
if ( abs( dPar1) < EPS_SMALL || abs( dPar2) < EPS_SMALL)
if ( dPar1 < EPS_SMALL || abs( dPar2) < EPS_SMALL)
return false ;
break ;
case MCH_SIM_COB_SPHE :
if ( abs( dPar1) < EPS_SMALL)
if ( dPar1 < EPS_SMALL)
return false ;
break ;
case MCH_SIM_COB_CONE :
if ( ( dPar1 < EPS_SMALL && dPar2 < EPS_SMALL) || dPar3 < EPS_SMALL)
return false ;
break ;
default :
return false ;
}
// aggiungo al vettore
m_CollObj.emplace_back( nInd, nFrameId, nType, dPar1, dPar2, dPar3) ;
m_CollObj.emplace_back( nInd, nFrameId, nType, vtMove, dPar1, dPar2, dPar3) ;
return true ;
}
Simulator.h
+5 -4
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@@ -37,7 +37,7 @@ class Simulator
bool GetToolInfo( std::string& sName, double& dSpeed) const ;
bool GetOperationInfo( std::string& sName, int& nType) const ;
bool GetMoveInfo( int& nGmove, double& dFeed) const ;
bool AddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, double dPar2, double dPar3) ;
bool AddCollisionObj( int nInd, int nFrameId, int nType, const Vector3d& vtMove, double dPar1, double dPar2, double dPar3) ;
bool ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType) ;
bool OnCollision( int nCdInd, int nObjInd, int& nErr) ;
@@ -94,12 +94,13 @@ class Simulator
int nInd ;
int nFrameId ;
int nType ;
Vector3d vtMove ;
double dPar1 ;
double dPar2 ;
double dPar3 ;
CollObj( void) : nInd( 0), nFrameId( -1), nType( 0), dPar1( 0), dPar2( 0), dPar3( 0) {}
CollObj( int nI, int nF, int nT, double dP1, double dP2, double dP3)
: nInd( nI), nFrameId( nF), nType( nT), dPar1( dP1), dPar2( dP2), dPar3( dP3) {}
CollObj( void) : nInd( 0), nFrameId( -1), nType( 0), vtMove(), dPar1( 0), dPar2( 0), dPar3( 0) {}
CollObj( int nI, int nF, int nT, const Vector3d& vtM, double dP1, double dP2, double dP3)
: nInd( nI), nFrameId( nF), nType( nT), vtMove( vtM), dPar1( dP1), dPar2( dP2), dPar3( dP3) {}
} ;
typedef std::vector< CollObj> COBVECTOR ;