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EgtMachKernel 2.4i5 :

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- aggiunta gestione flag MaxDeltaR2OnFirst su testa per disabilitare controllo massimo delta su secondo asse rotante all'inizio di una lavorazione.
This commit is contained in:
DarioS
2022-10-03 08:56:46 +02:00
parent f8f23ed713
commit 677a8466dd
12 changed files with 63 additions and 34 deletions
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EgtMachKernel.rc
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Head.cpp
+4 -2
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@@ -49,6 +49,7 @@ Head::Clone( void) const
pHead->m_vsHSet = m_vsHSet ;
pHead->m_vtADir = m_vtADir ;
pHead->m_dRot1W = m_dRot1W ;
pHead->m_bMaxDeltaR2On1 = m_bMaxDeltaR2On1 ;
pHead->m_Rot2Stroke = m_Rot2Stroke ;
pHead->m_nSolCh = m_nSolCh ;
}
@@ -102,7 +103,7 @@ Head::GetGeomDB( void) const
//----------------------------------------------------------------------------
Head::Head( void)
: m_nOwnerId( GDB_ID_NULL), m_pGeomDB( nullptr), m_nType( MCH_HT_NONE), m_nExitCount( 0),
m_dRot1W( 1), m_nSolCh( MCH_SCC_NONE)
m_dRot1W( 1), m_bMaxDeltaR2On1( true), m_nSolCh( MCH_SCC_NONE)
{
m_Rot2Stroke.Min = - INFINITO ;
m_Rot2Stroke.Max = INFINITO ;
@@ -111,7 +112,7 @@ Head::Head( void)
//----------------------------------------------------------------------------
bool
Head::Set( const string& sName, int nType, int nExitCount, const string& sHSet, const Vector3d& vtADir,
double dRot1W, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl)
double dRot1W, bool bMaxDeltaR2On1, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl)
{
m_sName = sName ;
m_nType = nType ;
@@ -124,6 +125,7 @@ Head::Set( const string& sName, int nType, int nExitCount, const string& sHSet,
m_vtADir = vtADir ;
m_vtADir.Normalize() ;
m_dRot1W = dRot1W ;
m_bMaxDeltaR2On1 = bMaxDeltaR2On1 ;
m_Rot2Stroke = Rot2Stroke ;
if ( IsValidHeadScc( nSolCh))
m_nSolCh = nSolCh ;
Head.h
+4 -1
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@@ -31,7 +31,7 @@ class Head : public IUserObj
public :
Head( void) ;
bool Set( const std::string& sName, int nType, int nExitCount, const std::string& sHSet,
const Vector3d& vtADir, double dRot1W, const STROKE& Rot2Stroke, int nSolCh,
const Vector3d& vtADir, double dRot1W, bool bMaxDeltaR2On1, const STROKE& Rot2Stroke, int nSolCh,
const STRVECTOR& vsOthColl) ;
bool AddHeadToHSet( const std::string& sHead) ;
bool ModifyHeadAuxDirection( const Vector3d& vtADir) ;
@@ -47,6 +47,8 @@ class Head : public IUserObj
{ return m_vtADir ; }
double GetRot1W( void) const
{ return m_dRot1W ; }
bool GetMaxDeltaR2On1( void) const
{ return m_bMaxDeltaR2On1 ; }
const STROKE& GetRot2Stroke( void) const
{ return m_Rot2Stroke ; }
int GetSolCh( void) const
@@ -63,6 +65,7 @@ class Head : public IUserObj
STRVECTOR m_vsHSet ;
Vector3d m_vtADir ;
double m_dRot1W ;
bool m_bMaxDeltaR2On1 ;
STROKE m_Rot2Stroke ;
int m_nSolCh ;
STRVECTOR m_vsOtherColl ;
MachMgr.h
+1
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@@ -442,6 +442,7 @@ class MachMgr : public IMachMgr
int GetCalcHead( void) const ;
int GetCalcExit( void) const ;
double GetCalcRot1W( void) const ;
bool GetCalcMaxDeltaR2OnFirst( void) const ;
bool GetCalcPartDirFromAngles( const Vector3d& vtPart, const DBLVECTOR& vAng, Vector3d& vtDir) const ;
bool SetCalcSolCh( int nScc, bool bExact) ;
bool VerifyAngleOutstroke( int nInd, double dAng) const ;
MachMgrMachines.cpp
+9 -1
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@@ -584,7 +584,15 @@ double
MachMgr::GetCalcRot1W( void) const
{
Machine* pMch = GetCurrMachine() ;
return ( ( pMch != nullptr) ? pMch->GetCurrRot1W() : false) ;
return ( ( pMch != nullptr) ? pMch->GetCurrRot1W() : 1) ;
}
//----------------------------------------------------------------------------
bool
MachMgr::GetCalcMaxDeltaR2OnFirst( void) const
{
Machine* pMch = GetCurrMachine() ;
return ( ( pMch != nullptr) ? pMch->GetCurrMaxDeltaR2OnFirst() : true) ;
}
//----------------------------------------------------------------------------
Machine.cpp
+7 -6
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@@ -46,6 +46,7 @@ Machine::Machine( void)
m_nCalcExitId = GDB_ID_NULL ;
m_nCalcToolId = GDB_ID_NULL ;
m_dCalcRot1W = 1 ;
m_bCalcMaxDeltaR2On1 = true ;
m_nCalcSolCh = MCH_SCC_NONE ;
m_dCalcTLen = 0 ;
m_dCalcTRad = 0 ;
@@ -499,7 +500,7 @@ Machine::ModifyMachineAxisHome( const string& sName, double dHome)
bool
Machine::LoadMachineStdHead( const string& sName, const string& sParent, const string& sHSet,
const Point3d& ptPos, const Vector3d& vtTDir, const Vector3d& vtADir,
double dRot1W, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
double dRot1W, bool bMaxDeltaR2On1, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
const string& sGeo, const STRVECTOR& vsAux)
{
// recupero pezzo e layer della geometria originale della testa
@@ -527,7 +528,7 @@ Machine::LoadMachineStdHead( const string& sName, const string& sParent, const s
Head* pHead = new(nothrow) Head ;
if ( pHead == nullptr)
return false ;
pHead->Set( sName, MCH_HT_STD, 1, sHSet, vtADir, dRot1W, Rot2Stroke, nSolCh, vsOthColl) ;
pHead->Set( sName, MCH_HT_STD, 1, sHSet, vtADir, dRot1W, bMaxDeltaR2On1, Rot2Stroke, nSolCh, vsOthColl) ;
m_pGeomDB->SetUserObj( nLay, pHead) ;
// aggiorno la testa capostipite
if ( ! AddHeadToSet( sHSet, sName))
@@ -548,7 +549,7 @@ Machine::LoadMachineStdHead( const string& sName, const string& sParent, const s
bool
Machine::LoadMachineMultiHead( const string& sName, const string& sParent, const string& sHSet,
const MUEXITVECTOR& vMuExit, const Vector3d& vtADir,
double dRot1W, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
double dRot1W, bool bMaxDeltaR2On1, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
const string& sGeo, const STRVECTOR& vsAux)
{
// recupero pezzo e layer della geometria originale della testa
@@ -576,7 +577,7 @@ Machine::LoadMachineMultiHead( const string& sName, const string& sParent, const
Head* pHead = new(nothrow) Head ;
if ( pHead == nullptr)
return false ;
pHead->Set( sName, MCH_HT_MULTI, int( vMuExit.size()), sHSet, vtADir, dRot1W, Rot2Stroke, nSolCh, vsOthColl) ;
pHead->Set( sName, MCH_HT_MULTI, int( vMuExit.size()), sHSet, vtADir, dRot1W, bMaxDeltaR2On1, Rot2Stroke, nSolCh, vsOthColl) ;
m_pGeomDB->SetUserObj( nLay, pHead) ;
// aggiorno la testa capostipite
if ( ! AddHeadToSet( sHSet, sName))
@@ -595,7 +596,7 @@ Machine::LoadMachineMultiHead( const string& sName, const string& sParent, const
bool
Machine::LoadMachineSpecialHead( const string& sName, const string& sParent, const string& sHSet,
const Point3d& ptPos, const Vector3d& vtTDir, const Vector3d& vtADir,
double dRot1W, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
double dRot1W, bool bMaxDeltaR2On1, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
const string& sGeo, const STRVECTOR& vsAux)
{
// recupero pezzo e layer della geometria originale della testa
@@ -623,7 +624,7 @@ Machine::LoadMachineSpecialHead( const string& sName, const string& sParent, con
Head* pHead = new(nothrow) Head ;
if ( pHead == nullptr)
return false ;
pHead->Set( sName, MCH_HT_SPECIAL, 1, sHSet, vtADir, dRot1W, Rot2Stroke, nSolCh, vsOthColl) ;
pHead->Set( sName, MCH_HT_SPECIAL, 1, sHSet, vtADir, dRot1W, bMaxDeltaR2On1, Rot2Stroke, nSolCh, vsOthColl) ;
m_pGeomDB->SetUserObj( nLay, pHead) ;
// aggiorno la testa capostipite
if ( ! AddHeadToSet( sHSet, sName))
Machine.h
+8 -4
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@@ -101,7 +101,10 @@ class Machine
int GetCurrExit( void) const ;
bool GetCurrExit( int& nExit) const ;
bool GetCurrHeadCollGroups( INTVECTOR& vIds) const ;
double GetCurrRot1W( void) const ;
double GetCurrRot1W( void) const
{ return m_dCalcRot1W ; }
bool GetCurrMaxDeltaR2OnFirst( void) const
{ return m_bCalcMaxDeltaR2On1 ; }
std::string GetKinematicAxis( int nInd) const ;
bool BlockKinematicRotAxis( const std::string& sName, double dVal) ;
bool BlockKinematicRotAxis( int nId, double dVal) ;
@@ -196,15 +199,15 @@ class Machine
bool ModifyMachineAxisHome( const std::string& sName, double dHome) ;
bool LoadMachineStdHead( const std::string& sName, const std::string& sParent, const std::string& sHSet,
const Point3d& ptPos, const Vector3d& vtTDir, const Vector3d& vtADir,
double dRot1W, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
double dRot1W, bool bMaxDeltaR2On1, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
const std::string& sGeo, const STRVECTOR& vsAux) ;
bool LoadMachineMultiHead( const std::string& sName, const std::string& sParent, const std::string& sHSet,
const MUEXITVECTOR& vMuExit, const Vector3d& vtADir,
double dRot1W, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
double dRot1W, bool bMaxDeltaR2On1, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
const std::string& sGeo, const STRVECTOR& vsAux) ;
bool LoadMachineSpecialHead( const std::string& sName, const std::string& sParent, const std::string& sHSet,
const Point3d& ptPos, const Vector3d& vtTDir, const Vector3d& vtADir,
double dRot1W, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
double dRot1W, bool bMaxDeltaR2On1, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
const std::string& sGeo, const STRVECTOR& vsAux) ;
bool LoadMachineTcPos( const std::string& sName, const std::string& sParent,
const Point3d& ptPos, const Vector3d& vtTDir, const Vector3d& vtADir,
@@ -280,6 +283,7 @@ class Machine
int m_nCalcExitId ; // uscita corrente per calcoli
int m_nCalcToolId ; // utensile corrente per calcoli
double m_dCalcRot1W ; // peso del primo asse rotante per i confronti
bool m_bCalcMaxDeltaR2On1 ; // flag utilizzo controllo massimo delta secondo asse rotante su inizio lavorazione
int m_nCalcSolCh ; // criterio di scelta della soluzione
bool m_bSolChExact ; // flag per scelta soluzione da soddisfare esattamente
Point3d m_ptCalcPos ; // posizione utensile a riposo per calcoli
MachineCalc.cpp
+1 -8
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@@ -281,6 +281,7 @@ Machine::SetCurrTool( const string& sTool, const string& sHead, int nExit)
m_nCalcExitId = nExitId ;
m_nCalcToolId = nToolId ;
m_dCalcRot1W = pHead->GetRot1W() ;
m_bCalcMaxDeltaR2On1 = pHead->GetMaxDeltaR2On1() ;
m_nCalcSolCh = pHead->GetSolCh() ;
m_ptCalcPos = pExit->GetPos() ;
m_vtCalcDir = pExit->GetTDir() ;
@@ -435,14 +436,6 @@ Machine::GetCurrHeadCollGroups( INTVECTOR& vIds) const
return true ;
}
//----------------------------------------------------------------------------
double
Machine::GetCurrRot1W( void) const
{
// restituisco il peso del primo asse rotante nei confronti di movimento
return m_dCalcRot1W ;
}
//----------------------------------------------------------------------------
bool
Machine::CalculateKinematicChain( void)
MachineLua.cpp
+13 -3
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@@ -53,6 +53,7 @@ static const string FLD_HSET = "HSet" ;
static const string FLD_TDIR = "TDir" ;
static const string FLD_ADIR = "ADir" ;
static const string FLD_ROT1W = "Rot1W" ;
static const string FLD_MAXDELTAR2ON1 = "MaxDeltaR2OnFirst" ;
static const string FLD_ROT2STROKE = "Rot2Stroke" ;
static const string FLD_SOLCH = "SolCh" ;
static const string FLD_OTHCOLL = "OthColl" ;
@@ -594,6 +595,9 @@ Machine::LuaEmtStdHead( lua_State* L)
// lettura eventuale campo 'Rot1W' dalla tabella (default 1)
double dRot1W = 1 ;
LuaGetTabFieldParam( L, 1, FLD_ROT1W, dRot1W) ;
// lettura eventuale campo 'MaxDeltaR2OnFirst' dalla tabella (default true)
bool bMaxDeltaR2On1 = true ;
LuaGetTabFieldParam( L, 1, FLD_MAXDELTAR2ON1, bMaxDeltaR2On1) ;
// lettura eventuale campo 'Rot2Stroke' dalla tabella
STROKE Rot2Stroke{{ -INFINITO, INFINITO}} ;
LuaGetTabFieldParam( L, 1, FLD_ROT2STROKE, Rot2Stroke.v) ;
@@ -621,7 +625,7 @@ Machine::LuaEmtStdHead( lua_State* L)
// carico i dati della testa standard
if ( ! m_pMchLua->LoadMachineStdHead( sName, sParent, sHSet, ptPos, vtTDir, vtADir,
dRot1W, Rot2Stroke, nSolCh, vsOthColl, sGeo, vsAux))
dRot1W, bMaxDeltaR2On1, Rot2Stroke, nSolCh, vsOthColl, sGeo, vsAux))
return luaL_error( L, " Load Machine Standard Head failed") ;
// restituisco l'indice della testa
@@ -672,6 +676,9 @@ Machine::LuaEmtMultiHead( lua_State* L)
// lettura eventuale campo 'Rot1W' dalla tabella (default 1)
double dRot1W = 1 ;
LuaGetTabFieldParam( L, 1, FLD_ROT1W, dRot1W) ;
// lettura eventuale campo 'MaxDeltaR2OnFirst' dalla tabella (default true)
bool bMaxDeltaR2On1 = true ;
LuaGetTabFieldParam( L, 1, FLD_MAXDELTAR2ON1, bMaxDeltaR2On1) ;
// lettura eventuale campo 'Rot2Stroke' dalla tabella
STROKE Rot2Stroke{{ -INFINITO, INFINITO}} ;
LuaGetTabFieldParam( L, 1, FLD_ROT2STROKE, Rot2Stroke.v) ;
@@ -699,7 +706,7 @@ Machine::LuaEmtMultiHead( lua_State* L)
// carico i dati della testa multipla
if ( ! m_pMchLua->LoadMachineMultiHead( sName, sParent, sHSet, vMuExit, vtADir,
dRot1W, Rot2Stroke, nSolCh, vsOthColl, sGeo, vsAux))
dRot1W, bMaxDeltaR2On1, Rot2Stroke, nSolCh, vsOthColl, sGeo, vsAux))
return luaL_error( L, " Load Machine Standard Head failed") ;
// restituisco l'indice della testa
@@ -739,6 +746,9 @@ Machine::LuaEmtSpecialHead( lua_State* L)
// lettura eventuale campo 'Rot1W' dalla tabella (default 1)
double dRot1W = 1 ;
LuaGetTabFieldParam( L, 1, FLD_ROT1W, dRot1W) ;
// lettura eventuale campo 'MaxDeltaR2OnFirst' dalla tabella (default true)
bool bMaxDeltaR2On1 = true ;
LuaGetTabFieldParam( L, 1, FLD_MAXDELTAR2ON1, bMaxDeltaR2On1) ;
// lettura eventuale campo 'Rot2Stroke' dalla tabella
STROKE Rot2Stroke{{ -INFINITO, INFINITO}} ;
LuaGetTabFieldParam( L, 1, FLD_ROT2STROKE, Rot2Stroke.v) ;
@@ -766,7 +776,7 @@ Machine::LuaEmtSpecialHead( lua_State* L)
// carico i dati della testa standard
if ( ! m_pMchLua->LoadMachineSpecialHead( sName, sParent, sHSet, ptPos, vtTDir, vtADir,
dRot1W, Rot2Stroke, nSolCh, vsOthColl, sGeo, vsAux))
dRot1W, bMaxDeltaR2On1, Rot2Stroke, nSolCh, vsOthColl, sGeo, vsAux))
return luaL_error( L, " Load Machine Special Head failed") ;
// restituisco l'indice della testa
Operation.cpp
+13 -7
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@@ -1470,6 +1470,9 @@ Operation::CalculateAxesValues( const string& sHint, bool bSolChExact)
// recupero peso primo asse rotante di testa
double dRot1W = m_pMchMgr->GetCalcRot1W() ;
// recupero flag controllo delta massimo secondo asse rotante anche su primo movimento di lavorazione
bool bMaxDeltaR2OnFirst = m_pMchMgr->GetCalcMaxDeltaR2OnFirst() ;
// recupero la minima differenza angolare da posizione precedente per stare vicino a posizione home
double dAngDeltaMinForHome = m_pMchMgr->GetAngDeltaMinForHome() ;
@@ -1490,18 +1493,21 @@ Operation::CalculateAxesValues( const string& sHint, bool bSolChExact)
while ( nClPathId != GDB_ID_NULL) {
DBLVECTOR vAxRotPrecOri = vAxRotPrec ;
int nOutStrC = 0 ;
if ( ! CalculateClPathAxesValues( nClPathId, nLinAxes, nRotAxes, dRot1W, dAngDeltaMinForHome, vAxRotHome, vAxRotPrec, nOutStrC)) {
if ( ! CalculateClPathAxesValues( nClPathId, nLinAxes, nRotAxes, dRot1W, bMaxDeltaR2OnFirst,
dAngDeltaMinForHome, vAxRotHome, vAxRotPrec, nOutStrC)) {
// se attivata scelta angolo iniziale vicino ad home ed extra corsa C, provo a rifarlo disattivando
if ( dAngDeltaMinForHome < ANG_FULL && nOutStrC != 0) {
m_pMchMgr->GetCurrMachine()->ResetOutstrokeInfo() ;
CalculateClPathAxesValues( nClPathId, nLinAxes, nRotAxes, dRot1W, INFINITO, vAxRotHome, vAxRotPrec, nOutStrC) ;
CalculateClPathAxesValues( nClPathId, nLinAxes, nRotAxes, dRot1W, bMaxDeltaR2OnFirst,
INFINITO, vAxRotHome, vAxRotPrec, nOutStrC) ;
}
// se extracorsa dell'asse C, provo a precaricarlo al contrario
if ( nOutStrC != 0) {
vAxRotPrec[0] = vAxRotPrecOri[0] + ( nOutStrC > 0 ? - ANG_FULL : ANG_FULL) ;
vAxRotPrec[1] = vAxRotPrecOri[1] ;
m_pMchMgr->GetCurrMachine()->ResetOutstrokeInfo() ;
if ( ! CalculateClPathAxesValues( nClPathId, nLinAxes, nRotAxes, dRot1W, INFINITO, vAxRotHome, vAxRotPrec, nOutStrC))
if ( ! CalculateClPathAxesValues( nClPathId, nLinAxes, nRotAxes, dRot1W, bMaxDeltaR2OnFirst,
INFINITO, vAxRotHome, vAxRotPrec, nOutStrC))
bOk = false ;
}
else
@@ -1515,13 +1521,13 @@ Operation::CalculateAxesValues( const string& sHint, bool bSolChExact)
//----------------------------------------------------------------------------
bool
Operation::CalculateClPathAxesValues( int nClPathId, int nLinAxes, int nRotAxes, double dRot1W,
Operation::CalculateClPathAxesValues( int nClPathId, int nLinAxes, int nRotAxes, double dRot1W, bool bMaxDeltaR2OnFirst,
double dAngDeltaMinForHome, const DBLVECTOR& vAxRotHome, DBLVECTOR& vAxRotPrec, int& nOutStrC)
{
if ( m_pMchMgr == nullptr || m_pGeomDB == nullptr)
return false ;
// massima variazione secondo asse rotante per continuità
double dDeltaR2Max = 30 ;
double dMaxDeltaR2 = 30 ;
// predispongo variabile per valori assi
DBLVECTOR vAxVal ;
vAxVal.reserve( 8) ;
@@ -1669,10 +1675,10 @@ Operation::CalculateClPathAxesValues( int nClPathId, int nLinAxes, int nRotAxes,
if ( bAng2 && ( dDelta2 < dDelta1 - EPS_ANG_SMALL || ! bAng1))
swap( vAng1, vAng2) ;
// se imposto limite su variazione di secondo asse rotante
if ( dDeltaR2Max > EPS_ANG_SMALL && vAng1.size() >= 2) {
if ( ( bMaxDeltaR2OnFirst || ! bFirst) && dMaxDeltaR2 > EPS_ANG_SMALL && vAng1.size() >= 2) {
double dR2Diff1 = vAng1[1] - vAxRotPrec[1] ;
double dR2Diff2 = vAng2[1] - vAxRotPrec[1] ;
if ( abs( dR2Diff1) > abs( dR2Diff2) && abs( dR2Diff1) > dDeltaR2Max)
if ( abs( dR2Diff1) > abs( dR2Diff2) && abs( dR2Diff1) > dMaxDeltaR2)
swap( vAng1, vAng2) ;
}
}
Operation.h
+1 -1
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@@ -111,7 +111,7 @@ class Operation : public IUserObj
std::string ExtractHint( const std::string& sNotes) const ;
bool SetBlockedRotAxis( const std::string& sBlockedAxis) const ;
bool CalculateAxesValues( const std::string& sHint, bool bSolChExact = false) ;
bool CalculateClPathAxesValues( int nClPathId, int nLinAxes, int nRotAxes, double dRot1W,
bool CalculateClPathAxesValues( int nClPathId, int nLinAxes, int nRotAxes, double dRot1W, bool bMaxDeltaR2OnFirst,
double dAngDeltaMinForHome, const DBLVECTOR& vAxRotHome, DBLVECTOR& vAxRotPrec, int& nOutStrC) ;
bool AdjustStartEndMovements( bool bVerifyPreviousLink = true) ;
bool AdjustOneStartMovement( int nClPathId, int nPrevClPathId, Operation* pPrevOp, const DBLVECTOR& vAxPrev, bool bMaxZ) ;
Simulator.cpp
+2 -1
View File
@@ -1511,8 +1511,9 @@ Simulator::OnToolSelect( const string& sTool, const string& sHead, int nExit, co
bool bOk = m_pMachine->LuaCallFunction( ON_SIMUL_TOOL_SELECT) ;
// forzo aggiornamento posizione assi (possono essere stati mossi nello script)
UpdateAxesPos() ;
// recupero distanza di sicurezza per verifica collisione
// recupero dati per verifica collisione
m_pMachine->LuaGetGlobVar( GLOB_VAR + GVAR_SAFEDIST, m_dSafeDist) ;
m_pMachine->LuaGetGlobVar( GLOB_VAR + GVAR_CODET, m_CdId) ;
// verifico codice di errore
bOk = bOk && m_pMachine->LuaGetGlobVar( GLOB_VAR + GVAR_ERR, nErr) ;
// recupero i dati di ritorno per assi ausiliari