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- aggiunta gestione Vmill a EmtMoveAxes.
This commit is contained in:
DarioS
2023-01-17 16:30:23 +01:00
parent abbc7ee12b
commit 1507f18b88
1 changed files with 59 additions and 17 deletions
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Simulator.cpp
+59 -17
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@@ -2049,33 +2049,72 @@ Simulator::MoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
{
// Salvo lo step di simulazione corrente
double dOrigStep = m_dStep ;
// verifico ci siano assi da muovere
// Verifico ci siano assi da muovere
if ( vAxNaEpSt.empty())
return SIM_AXMV_RES_ERR ;
// numero assi da muovere
// Numero assi da muovere
int nAxCount = int( vAxNaEpSt.size()) ;
// posizioni iniziali
// Posizioni iniziali
DBLVECTOR vPrev( nAxCount) ;
for ( int i = 0 ; i < nAxCount ; ++ i) {
if ( ! m_pMchMgr->GetAxisPos( vAxNaEpSt[i].sName, vPrev[i]))
return SIM_AXMV_RES_ERR ;
}
// determino gli step di movimento
// Posizione e direzione attuali degli utensili e riferimenti dei pezzi (per Vmill)
bool bExecVmill = (( nMoveType != 0 || ! NeedCollisionCheck()) && ! m_VmTool.empty() && ! m_VmId.empty()) ;
PNTVECTOR vPtNoseI ;
VCT3DVECTOR vVtDirI ;
VCT3DVECTOR vVtAuxI ;
vector<Frame3d> vFrVzmI ;
if ( bExecVmill) {
vPtNoseI.resize( m_VmTool.size()) ;
vVtDirI.resize( m_VmTool.size()) ;
vVtAuxI.resize( m_VmTool.size()) ;
vFrVzmI.resize( m_VmId.size()) ;
bool bOkI = true ;
for ( int i = 0 ; i < int( m_VmTool.size()) ; ++ i)
bOkI = GetHeadCurrPosDirAux( m_VmTool[i].sHead, m_VmTool[i].nExit, vPtNoseI[i], vVtDirI[i], vVtAuxI[i]) && bOkI ;
for ( int i = 0 ; i < int( m_VmId.size()) ; ++ i)
bOkI = m_pGeomDB->GetGlobFrame( m_VmId[i], vFrVzmI[i]) && bOkI ;
}
// Determino gli step di movimento
int nStep = 1 ;
for ( int i = 0 ; i < nAxCount ; ++ i) {
double dMove = abs( vAxNaEpSt[i].dEndPos - vPrev[i]) ;
int nAxStep = int( dMove / max( vAxNaEpSt[i].dStep, 1.)) + 1 ;
nStep = max( nStep, nAxStep) ;
}
// eseguo il movimento
for ( int j = 1 ; j <= nStep ; ++ j) {
// muovo
// Eseguo il movimento
for ( int i = 1 ; i <= nStep ; ++ i) {
// Muovo
bool bMoveOk = true ;
double dCoeff = double( j) / nStep ;
for ( int i = 0 ; i < nAxCount ; ++ i)
bMoveOk = m_pMchMgr->SetAxisPos( vAxNaEpSt[i].sName, ( 1 - dCoeff) * vPrev[i] + dCoeff * vAxNaEpSt[i].dEndPos) && bMoveOk ;
double dCoeff = double( i) / nStep ;
for ( int j = 0 ; j < nAxCount ; ++ j) {
bMoveOk = m_pMchMgr->SetAxisPos( vAxNaEpSt[j].sName, ( 1 - dCoeff) * vPrev[j] + dCoeff * vAxNaEpSt[j].dEndPos) && bMoveOk ;
}
// Eseguo eventuale Vmill
if ( bExecVmill) {
for ( int j = 0 ; j < int( m_VmTool.size()) ; ++ j) {
Point3d ptNoseF ; Vector3d vtDirF ; Vector3d vtAuxF ;
bool bOkF = GetHeadCurrPosDirAux( m_VmTool[j].sHead, m_VmTool[j].nExit, ptNoseF, vtDirF, vtAuxF) ;
for ( int k = 0 ; k < int( m_VmId.size()) ; ++ k) {
Frame3d frVzmF ;
bOkF = m_pGeomDB->GetGlobFrame( m_VmId[k], frVzmF) && bOkF ;
ExecLineVmill( m_VmId[k], j, m_VmTool[j].dTdOffs, m_VmTool[j].dAdOffs,
vPtNoseI[j], vVtDirI[j], vVtAuxI[j], vFrVzmI[k], ptNoseF, vtDirF, vtAuxF, frVzmF) ;
// se ultimo utensile, salvo riferimento per prossimo inizio
if ( j == int( m_VmTool.size()) - 1)
vFrVzmI[k] = frVzmF ;
}
// aggiorno prossimo inizio
vPtNoseI[j] = ptNoseF ;
vVtDirI[j] = vtDirF ;
vVtAuxI[j] = vtAuxF ;
}
}
// Aggiorno visualizzazione
ExeDraw() ;
// verifica collisioni
// Verifico collisioni
int nCdInd, nObjInd ;
bool bCollCheck = ExecCollisionCheck( nCdInd, nObjInd, nMoveType) ;
if ( ! bCollCheck) {
@@ -2092,7 +2131,7 @@ Simulator::MoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
m_nUiStatus = MCH_UISIM_PAUSE ;
while ( m_nUiStatus == MCH_UISIM_PAUSE) {
// -11 notifica al simulatore pausa dopo collisione
ExeProcessEvents( -11, 2) ;
ExeProcessEvents( -11, 4) ;
}
}
}
@@ -2100,22 +2139,25 @@ Simulator::MoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_ERR, nPrevErr) ;
}
}
// In caso di errore esco
if ( ! bMoveOk)
return SIM_AXMV_RES_ERR ;
// Gestione aggiornamenti...
if ( ExeGetEnableUI()) {
// Aggiornamento interfaccia
ExeProcessEvents( 0, 2) ;
ExeProcessEvents( 0, 4) ;
while ( m_nUiStatus == MCH_UISIM_PAUSE) {
ExeProcessEvents( 0, 2) ;
ExeProcessEvents( 0, 4) ;
}
// Gestione Stop
if ( m_nUiStatus == MCH_UISIM_STOP)
return SIM_AXMV_RES_STOP ;
// Se cambia lo step di simulazione in modo significativo ...
if ( abs( m_dStep - dOrigStep) > 5) {
if ( abs( ( m_dStep - dOrigStep) / ( m_dStep + dOrigStep)) > 0.2) {
double dRat = m_dStep / dOrigStep ;
for ( int i = 0 ; i < nAxCount ; ++ i)
const_cast<double&>( vAxNaEpSt[i].dStep) *= dRat ;
for ( int j = 0 ; j < nAxCount ; ++ j) {
const_cast<double&>( vAxNaEpSt[j].dStep) *= dRat ;
}
return MoveAxes( nMoveType, vAxNaEpSt) ;
}
}