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EgtMachKernel 2.5h2 :

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- aggiunta definizione EMC.VER con versione della dll a OnSetTable, OnSetHead e OnVerifyProtectedAreas
- alla modifica di posizione o direzione di un asse si sistema anche la geometria per la simulazione
- alla modifica della posizione di una uscita si sistema anche la geometria per la simulazione
- corretto carico uscite di una testa per direzioni poco discoste da quelle canoniche non correttamente assegnate.
This commit is contained in:
Dario Sassi
2023-08-19 11:53:38 +02:00
parent 652aa35aaa
commit 285e0ce910
9 changed files with 55 additions and 29 deletions
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Axis.cpp
+16 -13
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@@ -17,9 +17,11 @@
#include "Axis.h"
#include "MachConst.h"
#include "/EgtDev/Include/EGkGdbConst.h"
#include "/EgtDev/Include/EGkGeoVector3d.h"
#include "/EgtDev/Include/EGkUserObjFactory.h"
#include "/EgtDev/Include/EGkStringUtils3d.h"
#include "/EgtDev/Include/EGkUiUnits.h"
#include "/EgtDev/Include/EgtNumUtils.h"
using namespace std ;
@@ -137,9 +139,8 @@ Axis::Set( const string& sName, const string& sToken, bool bInvert, double dOffs
bool
Axis::Modify( const Point3d& ptPos, double dAxisMaxAdjust)
{
// Verifico che lo spostamento non superi il massimo ammesso
Vector3d vtDelta = ptPos - m_ptPos ;
Vector3d vtDeltaPerp = vtDelta - ( vtDelta * m_vtDir) * m_vtDir ;
// Verifico che lo spostamento perpendicolare alla sua direzione non superi il massimo ammesso
Vector3d vtDeltaPerp = OrthoCompo( ptPos - m_ptPos, m_vtDir) ;
if ( vtDeltaPerp.Len() > dAxisMaxAdjust) {
string sOut = " Modify Axis " + m_sName + " Position (" + ToString( ptPos) + ") failed" ;
LOG_ERROR( GetEMkLogger(), sOut.c_str()) ;
@@ -147,6 +148,11 @@ Axis::Modify( const Point3d& ptPos, double dAxisMaxAdjust)
}
// Assegno la nuova posizione
m_ptPos = ptPos ;
// Sistemo la geometria dell'asse
int nV = m_pGeomDB->GetFirstNameInGroup( m_nOwnerId, m_sName) ;
IGeoVector3d* pGV = GetGeoVector3d( m_pGeomDB->GetGeoObj( nV)) ;
if ( pGV != nullptr)
pGV->ChangeBase( m_ptPos) ;
return true ;
}
@@ -164,6 +170,11 @@ Axis::Modify( const Vector3d& vtDir, double dAxisMaxRotAdj)
}
// Assegno la nuova direzione
m_vtDir = vtDirN ;
// Sistemo la geometria dell'asse
int nV = m_pGeomDB->GetFirstNameInGroup( m_nOwnerId, m_sName) ;
IGeoVector3d* pGV = GetGeoVector3d( m_pGeomDB->GetGeoObj( nV)) ;
if ( pGV != nullptr)
pGV->ChangeVector( m_vtDir) ;
return true ;
}
@@ -172,10 +183,7 @@ bool
Axis::Modify( const STROKE& Stroke)
{
m_Stroke = Stroke ;
if ( m_dHomeVal < m_Stroke.Min)
m_dHomeVal = m_Stroke.Min ;
else if ( m_dHomeVal > m_Stroke.Max)
m_dHomeVal = m_Stroke.Max ;
m_dHomeVal = Clamp( m_dHomeVal, m_Stroke.Min, m_Stroke.Max) ;
return true ;
}
@@ -183,12 +191,7 @@ Axis::Modify( const STROKE& Stroke)
bool
Axis::Modify( double dHome)
{
if ( dHome < m_Stroke.Min)
m_dHomeVal = m_Stroke.Min ;
else if ( dHome > m_Stroke.Max)
m_dHomeVal = m_Stroke.Max ;
else
m_dHomeVal = dHome ;
m_dHomeVal = Clamp( dHome, m_Stroke.Min, m_Stroke.Max) ;
return true ;
}
EgtMachKernel.rc
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Exit.cpp
+3
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@@ -124,6 +124,9 @@ Exit::Modify( const Point3d& ptPos, double dExitMaxAdjust)
}
// Assegno la nuova posizione
m_ptPos = ptPos ;
// Sistemo la geometria dell'uscita
if ( ! vtDelta.IsZero())
m_pGeomDB->Translate( m_nOwnerId, vtDelta) ;
return true ;
}
MachMgrMachines.cpp
+1 -1
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@@ -356,7 +356,7 @@ bool
MachMgr::SetAxisPos( const string& sAxis, double dVal, double* pdNewVal)
{
Machine* pMch = GetCurrMachine() ;
return ( ( pMch != nullptr) ? pMch->SetAxisPos( sAxis, dVal, pdNewVal) : false) ;
return ( ( pMch != nullptr) ? pMch->SetAxisPos( sAxis, dVal, true, pdNewVal) : false) ;
}
//----------------------------------------------------------------------------
Machine.cpp
+24 -4
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@@ -441,8 +441,16 @@ Machine::ModifyMachineAxisPosition( const string& sName, const Point3d& ptPos)
Axis* pAx = GetAxis( nAxGrp) ;
if ( pAx == nullptr)
return false ;
// se valore dell'asse non nullo, lo annullo
double dCurrVal = pAx->GetCurrVal() ;
if ( abs( dCurrVal) > EPS_ZERO)
SetAxisPos( sName, 0, false) ;
// eseguo la modifica
return pAx->Modify( ptPos, m_dAxisMaxAdjust) ;
bool bOk = pAx->Modify( ptPos, m_dAxisMaxAdjust) ;
// ripristino l'asse al valore corrente
if ( abs( dCurrVal) > EPS_ZERO)
SetAxisPos( sName, dCurrVal, false) ;
return bOk ;
}
//----------------------------------------------------------------------------
@@ -458,8 +466,16 @@ Machine::ModifyMachineAxisDirection( const string& sName, const Vector3d& vtDir)
Axis* pAx = GetAxis( nAxGrp) ;
if ( pAx == nullptr)
return false ;
// se valore dell'asse non nullo, lo annullo
double dCurrVal = pAx->GetCurrVal() ;
if ( abs( dCurrVal) > EPS_ZERO)
SetAxisPos( sName, 0, false) ;
// eseguo la modifica
return pAx->Modify( vtDir, m_dAxisMaxRotAdj) ;
bool bOk = pAx->Modify( vtDir, m_dAxisMaxRotAdj) ;
// ripristino l'asse al valore corrente
if ( abs( dCurrVal) > EPS_ZERO)
SetAxisPos( sName, dCurrVal, false) ;
return bOk ;
}
//----------------------------------------------------------------------------
@@ -918,7 +934,7 @@ Machine::CreateExitGroups( int nLay, const MUEXITVECTOR& vMuExit)
return false ;
}
else {
Vector3d vtRotAx = vtTDir ^ vtDirN ; vtRotAx.Normalize() ;
Vector3d vtRotAx = vtTDir ^ vtDirN ; vtRotAx.Normalize( EPS_ZERO) ;
string sOut = " Exit " + sName + " rotation = (" + ToString( dAngRot) + "/" + ToString( vtRotAx) + ")" ;
LOG_DBG_INFO( GetEMkLogger(), sOut.c_str()) ;
vtRotAx.ToLoc( frHead) ;
@@ -976,7 +992,11 @@ Machine::ModifyMachineExitPosition( const string& sHead, int nExit, const Point3
if ( pExit == nullptr)
return false ;
// eseguo la modifica
return pExit->Modify( ptPos, m_dExitMaxAdjust) ;
if ( ! pExit->Modify( ptPos, m_dExitMaxAdjust))
return false ;
// eventuale aggiornamento variabile lua EMC.EXITPOS con la nuova posizione
LuaSetGlobVar( "EMC.EXITPOS", ptPos) ;
return true ;
}
//----------------------------------------------------------------------------
Machine.h
+1 -1
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@@ -81,7 +81,7 @@ class Machine
bool GetAxisInvert( const std::string& sAxis, bool& bInvert) const ;
bool GetAxisOffset( const std::string& sAxis, double& dOffset) const ;
bool GetAxisType( const std::string& sAxis, bool& bLinear) const ;
bool SetAxisPos( const std::string& sAxis, double dVal, double* pdNewVal = nullptr) ;
bool SetAxisPos( const std::string& sAxis, double dVal, bool bInStroke = true, double* pdNewVal = nullptr) ;
bool GetAxisPos( const std::string& sAxis, double& dVal) const ;
bool GetAxisMin( const std::string& sAxis, double& dMin) const ;
bool GetAxisMax( const std::string& sAxis, double& dMax) const ;
MachineAxes.cpp
+3 -5
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@@ -19,6 +19,7 @@
#include "/EgtDev/Include/EGkGeoVector3d.h"
#include "/EgtDev/Include/EGnStringUtils.h"
#include "/EgtDev/Include/EGnFileUtils.h"
#include "/EgtDev/Include/EgtNumUtils.h"
using namespace std ;
@@ -88,7 +89,7 @@ Machine::GetAxisType( const string& sAxis, bool& bLinear) const
//----------------------------------------------------------------------------
bool
Machine::SetAxisPos( const string& sAxis, double dVal, double* pdNewVal)
Machine::SetAxisPos( const string& sAxis, double dVal, bool bInStroke, double* pdNewVal)
{
// controllo GeomDB
if ( m_pGeomDB == nullptr)
@@ -114,10 +115,7 @@ Machine::SetAxisPos( const string& sAxis, double dVal, double* pdNewVal)
Vector3d vtDir = pGV->GetVector() ;
vtDir.Normalize() ;
// limito il movimento alla corsa dell'asse
if ( dVal > Stroke.Max)
dVal = Stroke.Max ;
else if ( dVal < Stroke.Min)
dVal = Stroke.Min ;
dVal = Clamp( dVal, Stroke.Min, Stroke.Max) ;
// eseguo il movimento
if ( bLinear)
m_pGeomDB->TranslateGroup( nAxGrp, vtDir * ( dVal - dCurrVal)) ;
MachineCalc.cpp
+6 -4
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@@ -24,11 +24,13 @@
#include "/EgtDev/Include/EGkGeoVector3d.h"
#include "/EgtDev/Include/EGnStringUtils.h"
#include "/EgtDev/Include/EGnFileUtils.h"
#include "/EgtDev/Include/EgtNumUtils.h"
using namespace std ;
//----------------------------------------------------------------------------
static const string EMC_VAR = "EMC" ; // tabella variabili locali per calcolo
static const string EVAR_VER = ".VER" ; // (string) versione della Dll
static const string EVAR_TABNAME = ".TABNAME" ; // (string) nome della tavola macchina
static const string EVAR_HEAD = ".HEAD" ; // (string) nome della testa
static const string EVAR_EXIT = ".EXIT" ; // (int) numero dell'uscita
@@ -74,6 +76,7 @@ Machine::SetCurrTable( const string& sTable)
bool bOldEMC = LuaChangeNameGlobVar( EMC_VAR, EMC_VAR_BACKUP) ;
// definisco variabili
bool bOk = LuaCreateGlobTable( EMC_VAR) ;
bOk = bOk && LuaSetGlobVar( EMC_VAR + EVAR_VER, GetEMkVer()) ;
bOk = bOk && LuaSetGlobVar( EMC_VAR + EVAR_TABNAME, sTable) ;
// chiamo funzione
bOk = bOk && LuaCallFunction( ON_SET_TABLE) ;
@@ -303,6 +306,7 @@ Machine::SetCurrTool( const string& sTool, const string& sHead, int nExit)
bool bOldEMC = LuaChangeNameGlobVar( EMC_VAR, EMC_VAR_BACKUP) ;
// definisco variabili
bool bOk = LuaCreateGlobTable( EMC_VAR) ;
bOk = bOk && LuaSetGlobVar( EMC_VAR + EVAR_VER, GetEMkVer()) ;
bOk = bOk && LuaSetGlobVar( EMC_VAR + EVAR_HEAD, sHead) ;
bOk = bOk && LuaSetGlobVar( EMC_VAR + EVAR_EXIT, nExit) ;
bOk = bOk && LuaSetGlobVar( EMC_VAR + EVAR_TOOL, sTool) ;
@@ -1481,10 +1485,7 @@ Machine::LimitAngleToStroke( int nInd, double& dAng) const
if ( nInd < 0 || nInd >= int( m_vCalcRotAx.size()))
return true ;
// se angolo fuori corsa, lo porto all'estremo più vicino
if ( dAng < m_vCalcRotAx[nInd].stroke.Min)
dAng = m_vCalcRotAx[nInd].stroke.Min ;
else if ( dAng > m_vCalcRotAx[nInd].stroke.Max)
dAng = m_vCalcRotAx[nInd].stroke.Max ;
dAng = Clamp( dAng, m_vCalcRotAx[nInd].stroke.Min, m_vCalcRotAx[nInd].stroke.Max) ;
return true ;
}
@@ -1579,6 +1580,7 @@ Machine::VerifyProtectedAreas( double dX, double dY, double dZ, const DBLVECTOR&
bool bOldEMC = LuaChangeNameGlobVar( EMC_VAR, EMC_VAR_BACKUP) ;
// definisco variabili
bOk = bOk && LuaCreateGlobTable( EMC_VAR) ;
bOk = bOk && LuaSetGlobVar( EMC_VAR + EVAR_VER, GetEMkVer()) ;
bOk = bOk && LuaSetGlobVar( EMC_VAR + EVAR_L1, dX) ;
bOk = bOk && LuaSetGlobVar( EMC_VAR + EVAR_L2, dY) ;
bOk = bOk && LuaSetGlobVar( EMC_VAR + EVAR_L3, dZ) ;
Operation.cpp
+1 -1
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@@ -425,7 +425,7 @@ Operation::GetElevation( int nPhase, const Point3d& ptP, const Vector3d& vtTool,
}
else {
Vector3d vtOrtho = OrthoCompo( ptV - ptP, vtDir) ;
Vector3d vtMajAx = vtTool ^ vtDir ; vtMajAx.Normalize() ;
Vector3d vtMajAx = vtTool ^ vtDir ; vtMajAx.Normalize( EPS_ZERO) ;
Vector3d vtMajOrt = ParallCompo( vtOrtho, vtMajAx) ;
Vector3d vtMinOrt = ( vtOrtho - vtMajOrt) / abs( vtTool * vtDir) ;
if ( vtMajOrt.SqLen() + vtMinOrt.SqLen() < dRad * dRad + EPS_ZERO)