EgtMachKernel :

- aggiunta funzione lua EmtGetCurrAxesHomePos.

Machine.h

@@ -377,6 +377,7 @@ class Machine
       static int LuaEmtGetBackAuxDir( lua_State* L) ;
       static int LuaEmtGetInitialAxesPos( lua_State* L) ;
       static int LuaEmtGetFinalAxesPos( lua_State* L) ;
+      static int LuaEmtGetCurrAxesHomePos( lua_State* L) ;
       static int LuaEmtLinkRawPartToGroup( lua_State* L) ;
       static int LuaEmtGetAllLinkedRawParts( lua_State* L) ;
       static int LuaEmtUnlinkRawPartFromGroup( lua_State* L) ;

MachineLua.cpp

@@ -127,6 +127,7 @@ Machine::LuaInit( const string& sMachineName)
    m_LuaMgr.RegisterFunction( "EmtRemoveRise", Machine::LuaEmtRemoveRise) ;
    m_LuaMgr.RegisterFunction( "EmtGetInitialAxesPos", Machine::LuaEmtGetInitialAxesPos) ;
    m_LuaMgr.RegisterFunction( "EmtGetFinalAxesPos", Machine::LuaEmtGetFinalAxesPos) ;
+   m_LuaMgr.RegisterFunction( "EmtGetCurrAxesHomePos", Machine::LuaEmtGetCurrAxesHomePos) ;
   // registro le funzioni di lettura entità CL per lua
    m_LuaMgr.RegisterFunction( "EmtGetMoveType", Machine::LuaEmtGetMoveType) ;
    m_LuaMgr.RegisterFunction( "EmtGetAxesPos", Machine::LuaEmtGetAxesPos) ;

MachineLuaCL.cpp

@@ -435,6 +435,27 @@ Machine::LuaEmtGetFinalAxesPos( lua_State* L)
    return 1 ;
 }
 
+//----------------------------------------------------------------------------
+int
+Machine::LuaEmtGetCurrAxesHomePos( lua_State* L)
+{
+  // nessun parametro
+   LuaClearStack( L) ;
+  // verifico ci sia una macchina attiva valida
+   if ( m_pMchLua == nullptr  ||
+        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
+      return luaL_error( L, " Unknown Machine") ;
+  // acquisisco la posizione di home degli assi della catena cinematica corrente
+   DBLVECTOR vAxHomeVal ;
+   bool bOk = m_pMchLua->GetAllCurrAxesHomePos( vAxHomeVal) ;
+   if ( bOk)
+      LuaSetParam( L, vAxHomeVal) ;
+   else
+      LuaSetParam( L) ;
+
+   return 1 ;
+}
+
 //----------------------------------------------------------------------------
 int
 Machine::LuaEmtGetMoveType( lua_State* L)