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EgtMachKernel 2.7h1 :

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- in simulazione corretta segnalazione extracorsa per robot
- aggiunta gestione suggerimento angoli iniziali come home con comando "Home".
This commit is contained in:
Dario Sassi
2025-08-03 13:37:44 +02:00
parent 9d447b875b
commit 3f8d6867e2
5 changed files with 74 additions and 43 deletions
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Operation.cpp
+20 -9
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@@ -1849,11 +1849,14 @@ Operation::CalculateAxesValues( const string& sHint, bool bRotContOnNext, bool b
for ( int i = 0 ; i < nRotAxes ; ++ i)
vAxRotHome[i] = vAxHome[nLinAxes + i] ;
// Verifico se nei suggerimenti viene richiesta Home per gli assi
bool bHintHome = ( sHint.find( "Home") != string::npos) ;
// Assegno gli angoli iniziali
DBLVECTOR vAxRotPrec( nRotAxes, 0.) ;
DBLVECTOR vAxVal ;
// se non richiesti angoli Home e utensile non cambiato, uso gli angoli finali della lavorazione precedente
if ( GetUserNotesZmax() != 2 && ! sPrevTool.empty() && ! ToolChangeNeeded( *pPrevOp, *this) &&
if ( ! bHintHome && GetUserNotesZmax() != 2 && ! sPrevTool.empty() && ! ToolChangeNeeded( *pPrevOp, *this) &&
pPrevOp->GetFinalAxesValues( true, vAxVal)) {
for ( int i = 0 ; i < nRotAxes ; ++ i)
vAxRotPrec[i] = vAxVal[nLinAxes + i] ;
@@ -1863,7 +1866,7 @@ Operation::CalculateAxesValues( const string& sHint, bool bRotContOnNext, bool b
vAxRotPrec = vAxRotHome ;
}
// se ci sono suggerimenti validi per gli assi rotanti, li applico
if ( ! sHint.empty()) {
if ( ! bHintHome && ! sHint.empty()) {
STRVECTOR vsTok ;
Tokenize( sHint, ",;", vsTok) ;
for ( const auto& sTok : vsTok) {
@@ -2763,8 +2766,16 @@ Operation::CalculateRobotAxesValues( bool bFirst, const Point3d& ptP, const Vect
}
}
// Scelgo la soluzione più vicina
// se esiste solo la prima
if ( vAng2.empty())
vAxVal = vAng1 ;
// evito passaggio per lo zero di R5 (per evitare passaggio attraverso direzione singolare)
else if ( vAng1[4] * vAxRotPrec[4] >= 0 && vAng2[4] * vAxRotPrec[4] < 0)
vAxVal = vAng1 ;
else if ( vAng1[4] * vAxRotPrec[4] < 0 && vAng2[4] * vAxRotPrec[4] >= 0)
vAxVal = vAng2 ;
// minimizzo rotazione polso
if ( vAng2.empty() || abs( vAng1[3] - vAxRotPrec[3]) < abs( vAng2[3] - vAxRotPrec[3]) + 10 * EPS_ANG_SMALL)
else if ( abs( vAng1[3] - vAxRotPrec[3]) < abs( vAng2[3] - vAxRotPrec[3]) + 10 * EPS_ANG_SMALL)
vAxVal = vAng1 ;
else
vAxVal = vAng2 ;
@@ -2822,8 +2833,10 @@ Operation::VerifyRobotLineMidPoint( const Point3d& ptPrec, const Vector3d& vtDir
dLinTol = max( dLinTol, 2 * EPS_SMALL) ;
bool bInTol = ( dDist <= dLinTol) ;
if ( ExeGetDebugLevel() >= 5) {
string sOut = "Midpoint dist = " + ToString( dDist, -4) +
string sOut = "Midpoint dist=" + ToString( dDist, -4) +
( nMoveType == 0 ? " (G0" : " (G1") + " Cnt=" + ToString( nCnt) + ") " + ( bInTol ? "Ok" : "Split") ;
if ( ! bInTol)
sOut += " - Ap=" + ToString( vAxPrec, -2) + " An=" + ToString( vAxVal, -2) ;
LOG_INFO( GetEMkLogger(), sOut.c_str())
}
@@ -2887,13 +2900,11 @@ Operation::VerifyRobotLineMidPoint( const Point3d& ptPrec, const Vector3d& vtDir
pMidCamData->SetFlag2( -1) ;
pMidCamData->SetToolShow( bToolShow && nCnt < 4) ;
// calcolo gli assi per il punto medio
DBLVECTOR vAxRotHome( vAxVal.size()) ;
DBLVECTOR vAxRotPrec( vAxVal.size()) ;
for ( int i = 0 ; i < int( vAxVal.size()) ; ++ i)
vAxRotPrec[i] = vAxVal[i] ;
DBLVECTOR vAxRotHome( vAxMid.size()) ;
DBLVECTOR vAxRotPrec( vAxMid) ;
if ( ! CalculateRobotAxesValues( false, ptMid, vtDirMid, vtAuxMid,
true, INFINITO, vAxRotHome, vAxRotPrec, vAxMid)) {
pMidCamData->SetAxes( CamData::AS_ERR, vAxVal) ;
pMidCamData->SetAxes( CamData::AS_ERR, vAxMid) ;
return false ;
}
// verifico di essere nelle corse degli assi