EgtMachKernel 2.2j5 :

- tramite Info di testa ZEXTRA possibilità di assegnare una extra risalita in Z per evitare collisioni nel collegamento di due lavorazioni.

Machine.h

@@ -113,6 +113,8 @@ class Machine
       bool GetAllCurrAxesName( STRVECTOR& vAxName) const ;
       bool GetCurrAxisToken( int nInd, std::string& sAxToken) const ;
       bool GetAllCurrAxesToken( STRVECTOR& vAxToken) const ;
+      bool GetCurrAxisMin( int nInd, double& dMin) const ;
+      bool GetCurrAxisMax( int nInd, double& dMax) const ;
       bool GetCurrAxisHomePos( int nInd, double& dHome) const ;
       bool GetAllCurrAxesHomePos( DBLVECTOR& vAxHomeVal) const ;
       bool GetAngles( const Vector3d& vtDirT, const Vector3d& vtDirA,

MachineCalc.cpp

@@ -1632,6 +1632,52 @@ Machine::GetAllCurrAxesToken( STRVECTOR& vAxToken) const
    return bOk ;
 }
 
+//----------------------------------------------------------------------------
+bool
+Machine::GetCurrAxisMin( int nInd, double& dMin) const
+{
+   int nLinAxes = int( m_vCalcLinAx.size()) ; 
+   int nRotAxes = int( m_vCalcRotAx.size()) ; 
+   if ( nInd >= 0  &&  nInd < nLinAxes) {
+      Axis* pAx = GetAxis( m_vCalcLinAx[nInd].nGrpId) ;
+      if ( pAx == nullptr)
+         return false ;
+      dMin = pAx->GetStroke().Min ;
+      return true ;
+   }
+   else if ( nInd >= nLinAxes  &&  nInd < nLinAxes + nRotAxes) {
+      Axis* pAx = GetAxis( m_vCalcRotAx[nInd-nLinAxes].nGrpId) ;
+      if ( pAx == nullptr)
+         return false ;
+      dMin = pAx->GetStroke().Min ;
+      return true ;
+   }
+   return false ;
+}
+
+//----------------------------------------------------------------------------
+bool
+Machine::GetCurrAxisMax( int nInd, double& dMax) const
+{
+   int nLinAxes = int( m_vCalcLinAx.size()) ; 
+   int nRotAxes = int( m_vCalcRotAx.size()) ; 
+   if ( nInd >= 0  &&  nInd < nLinAxes) {
+      Axis* pAx = GetAxis( m_vCalcLinAx[nInd].nGrpId) ;
+      if ( pAx == nullptr)
+         return false ;
+      dMax = pAx->GetStroke().Max ;
+      return true ;
+   }
+   else if ( nInd >= nLinAxes  &&  nInd < nLinAxes + nRotAxes) {
+      Axis* pAx = GetAxis( m_vCalcRotAx[nInd-nLinAxes].nGrpId) ;
+      if ( pAx == nullptr)
+         return false ;
+      dMax = pAx->GetStroke().Max ;
+      return true ;
+   }
+   return false ;
+}
+
 //----------------------------------------------------------------------------
 bool
 Machine::GetCurrAxisHomePos( int nInd, double& dHome) const

MachineStruConst.h

@@ -100,8 +100,10 @@ const std::string MCH_AUX_VECT = "AV" ;
 const std::string MCH_EXIT = "T" ;
 
 //----------------------------------------------------------------------------
-// Info in rinvio rotante per forzare risalita alla rotazione
+// Info di testa per forzare risalita alla rotazione
 const std::string MCH_ZMAXONROT = "ZMAXONROT" ;
+// Info di testa per una extra risalita in Z
+const std::string MCH_ZEXTRA = "ZEXTRA" ;
 
 //----------------------------------------------------------------------------
 // Dati aggregato rotante da sotto

Operation.cpp

@@ -1642,8 +1642,18 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
          if ( m_pMchMgr->GetCurrAxisHomePos( 2, dSafeZ)) {
             DBLVECTOR vAxVal2 = vAxVal ; vAxVal2[2] = dSafeZ ;
             DBLVECTOR vAxIni2 = vAxIni ; vAxIni2[2] = dSafeZ ;
-            if ( ! TestCollisionAvoid( vAxVal2, vAxIni2))
-               return false ;
+            if ( ! TestCollisionAvoid( vAxVal2, vAxIni2)) {
+               double dExtraZ = GetExtraZ( dSafeZ) ;
+               if ( dExtraZ > EPS_SMALL) {
+                  dSafeZ += dExtraZ ;
+                  vAxVal2[2] = dSafeZ ;
+                  vAxIni2[2] = dSafeZ ;
+                  if ( ! TestCollisionAvoid( vAxVal2, vAxIni2))
+                     return false ;
+               }
+               else
+                  return false ;
+            }
          }
          else
             return false ;
@@ -2280,6 +2290,26 @@ Operation::CalcDeltaZForHeadRotation( const DBLVECTOR& vAxStart, const DBLVECTOR
    return true ;
 }
 
+//----------------------------------------------------------------------------
+double
+Operation::GetExtraZ( double dSafeZ) const
+{
+   double dExtraZ = 0 ;
+  // Recupero macchina corrente
+   Machine* pMch = ( m_pMchMgr != nullptr ?  m_pMchMgr->GetCurrMachine() : nullptr) ;
+   if ( pMch == nullptr)
+      return 0 ;
+  // Se testa con Info ZEXTRA la recupero e la limito alla corsa dell'asse
+   int nHeadId = pMch->GetCurrHead() ;
+   double dVal ;
+   if ( m_pGeomDB->GetInfo( nHeadId, MCH_ZEXTRA, dVal)  &&  dVal > EPS_SMALL) {
+      double dZmax ;
+      pMch->GetCurrAxisMax( 2, dZmax) ;
+      dExtraZ = min( dVal, dZmax - dSafeZ) ;
+   }
+   return dExtraZ ;
+}
+
 //----------------------------------------------------------------------------
 bool
 Operation::ForcedZmax( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd) const

Operation.h

@@ -109,6 +109,7 @@ class Operation : public IUserObj
       bool   RemoveRise( int nClPathId = GDB_ID_NULL) ;
       bool   AddHome( void) ;
       bool   CalcDeltaZForHeadRotation( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, double& dDeltaZ) const ;
+      double GetExtraZ( double dSafeZ) const ;
       bool   ForcedZmax( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd) const ;
       bool   TestCollisionAvoid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd) const ;
       bool   SpecialMoveZup( Vector3d& vtTool, DBLVECTOR& vAx, bool& bModif) ;