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EgtMachKernel 2.1l6 :

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- aggiunta possibilità di avere direzioni utensili e direzioni assi di mlde lievemente diverse dal disegno.
This commit is contained in:
Dario Sassi
2019-12-23 16:43:23 +00:00
parent 0ff791c8c2
commit 2ccd9fee17
4 changed files with 45 additions and 11 deletions
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EgtMachKernel.rc
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Machine.cpp
+33 -11
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@@ -36,7 +36,9 @@ Machine::Machine( void)
m_nGroupId = GDB_ID_NULL ;
m_nTempGroupId = GDB_ID_NULL ;
m_dAxisMaxAdjust = EPS_SMALL ;
m_dAxisMaxRotAdj = 10 * EPS_ANG_SMALL ;
m_dExitMaxAdjust = EPS_SMALL ;
m_dExitMaxRotAdj = 10 * EPS_ANG_SMALL ;
m_dAngDeltaMinForHome = INFINITO ;
m_nCalcTabId = GDB_ID_NULL ;
m_nCalcHeadId = GDB_ID_NULL ;
@@ -376,10 +378,19 @@ Machine::AdjustAxis( int nLay, const string& sPart, const string& sName,
// altrimenti asse rotante, devo verificarne direzione e coassialità (questa solo se non abilitato movimento)
else {
Vector3d vtDirN = vtDir ;
if ( ! vtDirN.Normalize() || ! AreSameVectorApprox( vtAxis, vtDirN)) {
string sOut = " Wrong Axis Vector or Dir " + sPart ;
LOG_ERROR( GetEMkLogger(), sOut.c_str()) ;
return false ;
if ( ! vtDirN.Normalize() || ! AreSameVectorEpsilon( vtAxis, vtDirN, 10 * SIN_EPS_ANG_SMALL)) {
double dAngRot ;
if ( ! vtAxis.GetAngle( vtDirN, dAngRot) || abs( dAngRot) > m_dExitMaxRotAdj) {
string sOut = " Wrong Axis Vector or Dir " + sPart ;
LOG_ERROR( GetEMkLogger(), sOut.c_str()) ;
return false ;
}
else {
Vector3d vtRotAx = vtAxis ^ vtDirN ; vtRotAx.Normalize() ;
string sOut = " Axis " + sName + " rotation = (" + ToString( dAngRot) + "/" + ToString( vtRotAx) + ")" ;
LOG_DBG_INFO( GetEMkLogger(), sOut.c_str()) ;
m_pGeomDB->RotateGlob( nId, ptBase, vtRotAx, dAngRot) ;
}
}
Vector3d vtDelta = ptPos - ptBase ;
Vector3d vtDeltaPerp = vtDelta - ( vtDelta * vtDirN) * vtDirN ;
@@ -390,7 +401,7 @@ Machine::AdjustAxis( int nLay, const string& sPart, const string& sName,
return false ;
}
else {
string sOut = " Move = (" + ToString( vtDelta) + ")" ;
string sOut = " Axis " + sName + " move = (" + ToString( vtDelta) + ")" ;
LOG_DBG_INFO( GetEMkLogger(), sOut.c_str()) ;
m_pGeomDB->TranslateGlob( nId, vtDelta) ;
}
@@ -777,12 +788,12 @@ Machine::CreateExitGroups( int nLay, const MUEXITVECTOR& vMuExit)
Vector3d vtDelta = vMuExit[i].ptPos - ptPos ;
if ( ! vtDelta.IsSmall()) {
if ( vtDelta.Len() > m_dExitMaxAdjust) {
string sOut = " Wrong Exit Position " + sName + " move = (" + ToString( vtDelta) +")" ;
string sOut = " Wrong Exit Position " + sName + " move = (" + ToString( vtDelta) + ")" ;
LOG_ERROR( GetEMkLogger(), sOut.c_str()) ;
return false ;
}
else {
string sOut = " Exit " + sName + " move = (" + ToString( vtDelta) +")" ;
string sOut = " Exit " + sName + " move = (" + ToString( vtDelta) + ")" ;
LOG_DBG_INFO( GetEMkLogger(), sOut.c_str()) ;
vtDelta.ToLoc( frHead) ;
frFrame.Translate( vtDelta) ;
@@ -790,10 +801,21 @@ Machine::CreateExitGroups( int nLay, const MUEXITVECTOR& vMuExit)
}
}
Vector3d vtDirN = vMuExit[i].vtTDir ;
if ( ! vtDirN.Normalize() || ! AreSameVectorApprox( vtTDir, vtDirN)) {
string sOut = " Wrong Exit Vector " + sName ;
LOG_ERROR( GetEMkLogger(), sOut.c_str()) ;
return false ;
if ( ! vtDirN.Normalize() || ! AreSameVectorEpsilon( vtTDir, vtDirN, 10 * SIN_EPS_ANG_SMALL)) {
double dAngRot ;
if ( ! vtTDir.GetAngle( vtDirN, dAngRot) || abs( dAngRot) > m_dExitMaxRotAdj) {
string sOut = " Wrong Exit Vector " + sName ;
LOG_ERROR( GetEMkLogger(), sOut.c_str()) ;
return false ;
}
else {
Vector3d vtRotAx = vtTDir ^ vtDirN ; vtRotAx.Normalize() ;
string sOut = " Exit " + sName + " rotation = (" + ToString( dAngRot) + "/" + ToString( vtRotAx) + ")" ;
LOG_DBG_INFO( GetEMkLogger(), sOut.c_str()) ;
vtRotAx.ToLoc( frHead) ;
frFrame.Rotate( frFrame.Orig(), vtRotAx, dAngRot) ;
GetGeoFrame3d( m_pGeomDB->GetGeoObj( nT))->Set( frFrame) ;
}
}
// inserisco gruppo con riferimento del frame
int nGT = m_pGeomDB->InsertGroup( GDB_ID_NULL, nT, GDB_BEFORE, frFrame) ;
Machine.h
+2
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@@ -244,7 +244,9 @@ class Machine
int m_nTempGroupId ; // Id del gruppo temporaneo macchina per carico
STRINT_UMAP m_mapGroups ; // dizionario dei gruppi della macchina
double m_dAxisMaxAdjust ; // massimo aggiustamento asse da geometria a descrizione cinematica
double m_dAxisMaxRotAdj ; // massima rotazione di aggiustamento asse da geometria a descrizione cinematica
double m_dExitMaxAdjust ; // massimo aggiustamento uscita da geometria a descrizione cinematica
double m_dExitMaxRotAdj ; // massima rotazione di aggiustamento uscita da geometria a descrizione cinematica
double m_dAngDeltaMinForHome ; // minima differenza angolare da valore precedente per scegliere di stare vicino a home
INTVECTOR m_vLinkedRawParts ; // elenco dei grezzi agganciati a gruppi della macchina
INTVECTOR m_vLinkedFixtures ; // elenco dei bloccaggi agganciati a gruppi della macchina
MachineLua.cpp
+10
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@@ -30,7 +30,9 @@ static const string FLD_OFFSET = "Offset" ;
static const string FLD_SPECIAL = "Special" ;
static const string FLD_PROCESSOR = "Processor" ;
static const string FLD_AXISMAXADJUST = "AxisMaxAdjust" ;
static const string FLD_AXISMAXROTADJ = "AxisMaxRotAdj" ;
static const string FLD_EXITMAXADJUST = "ExitMaxAdjust" ;
static const string FLD_EXITMAXROTADJ = "ExitMaxRotAdj" ;
static const string FLD_ANGDELTAMINFORHOME = "AngDeltaMinForHome" ;
static const string FLD_NAME = "Name" ;
static const string FLD_PARENT = "Parent" ;
@@ -275,9 +277,15 @@ Machine::LuaEmtGeneral( lua_State* L)
// lettura eventuale campo 'AxisMaxAdjust' dalla tabella (default EPS_SMALL)
double dAxisMaxAdjust = EPS_SMALL ;
LuaGetTabFieldParam( L, 1, FLD_AXISMAXADJUST, dAxisMaxAdjust) ;
// lettura eventuale campo 'AxisMaxRotAdj' dalla tabella (default 10 * EPS_ANG_SMALL)
double dAxisMaxRotAdj = 10 * EPS_ANG_SMALL ;
LuaGetTabFieldParam( L, 1, FLD_AXISMAXROTADJ, dAxisMaxRotAdj) ;
// lettura eventuale campo 'ExitMaxAdjust' dalla tabella (default EPS_SMALL)
double dExitMaxAdjust = EPS_SMALL ;
LuaGetTabFieldParam( L, 1, FLD_EXITMAXADJUST, dExitMaxAdjust) ;
// lettura eventuale campo 'ExitMaxRotAdj' dalla tabella (default 10 * EPS_ANG_SMALL)
double dExitMaxRotAdj = 10 * EPS_ANG_SMALL ;
LuaGetTabFieldParam( L, 1, FLD_EXITMAXROTADJ, dExitMaxRotAdj) ;
// lettura eventuale campo 'AngDeltaForHome' dalla tabella (default INFINITO)
double dAngDeltaMinForHome = INFINITO ;
LuaGetTabFieldParam( L, 1, FLD_ANGDELTAMINFORHOME, dAngDeltaMinForHome) ;
@@ -323,7 +331,9 @@ Machine::LuaEmtGeneral( lua_State* L)
// imposto massimo spostamento assi e uscite tra definizione cinematica e geometria
m_pMchLua->m_dAxisMaxAdjust = dAxisMaxAdjust ;
m_pMchLua->m_dAxisMaxRotAdj = dAxisMaxRotAdj ;
m_pMchLua->m_dExitMaxAdjust = dExitMaxAdjust ;
m_pMchLua->m_dExitMaxRotAdj = dExitMaxRotAdj ;
// imposto minima differenza angolare da posizione precedente per stare vivino a posizione home
m_pMchLua->m_dAngDeltaMinForHome = dAngDeltaMinForHome ;