From 4af09db198734f8673fa287c8bcbe26fe3344b9a Mon Sep 17 00:00:00 2001
From: DarioS <dario.sassi@egaltech.com>
Date: Tue, 17 Jan 2023 18:19:49 +0100
Subject: [PATCH] EgtMachKernel : - miglioria alla funzione EmtMoveAxes per
 gestire anche rappresentazioni simboliche delle feed (con interi negativi).

---
 Simulator.cpp | 23 ++++++++++++++++++++---
 1 file changed, 20 insertions(+), 3 deletions(-)

diff --git a/Simulator.cpp b/Simulator.cpp
index 26d796b..746b56c 100644
--- a/Simulator.cpp
+++ b/Simulator.cpp
@@ -2078,10 +2078,26 @@ Simulator::MoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
          bOkI = m_pGeomDB->GetGlobFrame( m_VmId[i], vFrVzmI[i]) && bOkI ;  
    }
   // Determino gli step di movimento
+   static const int STEP_FEED = -1 ;
+   static const int STEP_RAPID = -2 ;
+   static const int STEP_RAPROT = -3 ;
+   static const int STEP_COLLROT = -4 ;
    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 ;
+      double dStep = vAxNaEpSt[i].dStep ;
+      if ( dStep < 0) {
+         if ( abs( dStep - STEP_FEED) < EPS_SMALL)
+            dStep = m_dStep ;
+         else if ( abs( dStep - STEP_RAPID) < EPS_SMALL)
+            dStep = 4 * m_dStep ;
+         else if ( abs( dStep - STEP_RAPROT) < EPS_SMALL)
+            dStep = 0.4 * m_dStep ;
+         else                // STEP_COLLROT
+            dStep = min( 0.4 * m_dStep, 10.) ;
+      }
+      dStep = max( dStep, 1.) ;
+      int nAxStep = int( dMove / dStep) + 1 ;
       nStep = max( nStep, nAxStep) ;
    }
   // Eseguo il movimento
@@ -2153,10 +2169,11 @@ Simulator::MoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
          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) / ( m_dStep + dOrigStep)) > 0.2) {
+         if ( abs( m_dStep - dOrigStep) > 10  ||  abs( ( m_dStep - dOrigStep) / ( m_dStep + dOrigStep)) > 0.2) {
             double dRat = m_dStep / dOrigStep ;
             for ( int j = 0 ; j < nAxCount ; ++ j) {
-               const_cast<double&>( vAxNaEpSt[j].dStep) *= dRat ;
+               if ( vAxNaEpSt[j].dStep > 0)
+                  const_cast<double&>( vAxNaEpSt[j].dStep) *= dRat ;
             }
             return MoveAxes( nMoveType, vAxNaEpSt) ;
          }