From 68a92f942c4ffdbd39cdc380b7356f59d5bd11f7 Mon Sep 17 00:00:00 2001
From: Dario Sassi <dario.sassi@egalware.com>
Date: Mon, 29 Jul 2024 10:15:38 +0200
Subject: [PATCH] EgtMachKerenel : - ulteriore modifica per controllo punto
 medio in calcolo assi macchina di tipo centro di lavoro.

---
 Operation.cpp | 18 +++++++++++-------
 Operation.h   |  2 +-
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/Operation.cpp b/Operation.cpp
index a726b74..8224b64 100644
--- a/Operation.cpp
+++ b/Operation.cpp
@@ -1984,6 +1984,8 @@ Operation::CalculateClPathAxesValues( int nClPathId, int nLinAxes, int nRotAxes,
       Vector3d vtBackAux ;
       pMachine->GetBackAuxDirFromAngles( vAxRot, vtBackAux)  ;
       pCamData->SetBackAuxDir( vtBackAux) ;
+     // tipo di movimento
+      int nMoveType = pCamData->GetMoveType() ;
      // se punto finale di linea
       if ( ! bFirst  &&  pCamData->IsLine()) {
         // Verifica ricorsiva del punto medio
@@ -1991,7 +1993,7 @@ Operation::CalculateClPathAxesValues( int nClPathId, int nLinAxes, int nRotAxes,
          bool bAxesError ;
          if ( ! VerifyLineMidPoint( ptPrec, vtDirPrec, vtAuxPrec, vtCorrPrec, vAxPrec,
                                     ptP, vtDir, vtAux, vtCorr, vAxVal,
-                                    0, nEntId, dRot1W, bMidAdded, bAxesError)) {
+                                    0, nEntId, dRot1W, nMoveType, bMidAdded, bAxesError)) {
             LOG_ERROR( GetEMkLogger(), "Error : VerifyLineMidPoint of CalculateClPathAxesValues failed")
             return false ;
          }
@@ -2301,7 +2303,7 @@ Operation::CalculateRotAxesValues( bool bFirst, const Vector3d& vtTool, const Ve
 bool
 Operation::VerifyLineMidPoint( const Point3d& ptPrec, const Vector3d& vtDirPrec, const Vector3d& vtAuxPrec, const Vector3d& vtCorrPrec, const DBLVECTOR& vAxPrec,
                                const Point3d& ptP, const Vector3d& vtDir, const Vector3d& vtAux, const Vector3d& vtCorr, const DBLVECTOR& vAxVal,
-                               int nCnt, int nEntId, double dRot1W, bool& bAdded, bool& bAxError)
+                               int nCnt, int nEntId, double dRot1W, int nMoveType, bool& bAdded, bool& bAxError)
 {
   // impostazioni
    bAdded = false ;
@@ -2340,6 +2342,8 @@ Operation::VerifyLineMidPoint( const Point3d& ptPrec, const Vector3d& vtDirPrec,
       return false ;
    // LOG_INFO( GetEMkLogger(), ( "Midpoint dist =" + ToString( dDist, 3)).c_str())
    double dLinTol = GetApproxLinTol() ;
+   if ( nMoveType == 0)
+      dLinTol = max( 10 * dLinTol, LIN_TOL_RAW) ;
 
   // Se posizione in tolleranza, non devo fare alcunché
    if ( dDist <= dLinTol)
@@ -2349,13 +2353,13 @@ Operation::VerifyLineMidPoint( const Point3d& ptPrec, const Vector3d& vtDirPrec,
    Point3d ptMid = Media( ptPrec, ptP) ;
    Vector3d vtDirMid = Media( vtDirPrec, vtDir) ;
    if ( ! vtDirMid.Normalize())
-      return true ;
+      return ( nMoveType == 0) ;
    Vector3d vtAuxMid = Media( vtAuxPrec, vtAux) ;
    if ( ! vtAuxPrec.IsSmall()  &&  ! vtAux.IsSmall()  &&  ! vtAuxMid.Normalize())
-      return true ;
+      return ( nMoveType == 0) ;
    Vector3d vtCorrMid = Media( vtCorrPrec, vtCorr) ;
    if ( ! vtCorrPrec.IsSmall()  &&  ! vtCorr.IsSmall()  &&  ! vtCorrMid.Normalize())
-      return true ;
+      return ( nMoveType == 0) ;
   // inserisco nuova entità e modifico vecchia
    int nMidEntId = m_pGeomDB->Copy( nEntId, GDB_ID_NULL, nEntId, GDB_BEFORE) ;
    if ( nMidEntId == GDB_ID_NULL)
@@ -2415,7 +2419,7 @@ Operation::VerifyLineMidPoint( const Point3d& ptPrec, const Vector3d& vtDirPrec,
    bool bAdded1, bAxError1, bAdded2, bAxError2 ;
    if ( ! VerifyLineMidPoint( ptPrec, vtDirPrec, vtAuxPrec, vtCorrPrec, vAxPrec,
                               ptMid, vtDirMid, vtAuxMid, vtCorrMid, vAxMid,
-                              nCnt, nMidEntId, dRot1W, bAdded1, bAxError1))
+                              nCnt, nMidEntId, dRot1W, nMoveType, bAdded1, bAxError1))
       return false ;
    if ( bAxError1) {
       bAxError = true ;
@@ -2423,7 +2427,7 @@ Operation::VerifyLineMidPoint( const Point3d& ptPrec, const Vector3d& vtDirPrec,
    }
    if ( ! VerifyLineMidPoint( ptMid, vtDirMid, vtAuxMid, vtCorrMid, vAxMid,
                               ptP, vtDir, vtAux, vtCorr, vAxVal,
-                              nCnt, nEntId, dRot1W, bAdded2, bAxError2))
+                              nCnt, nEntId, dRot1W, nMoveType, bAdded2, bAxError2))
       return false ;
    if ( bAxError2) {
       bAxError = true ;
diff --git a/Operation.h b/Operation.h
index f477f21..fed8795 100644
--- a/Operation.h
+++ b/Operation.h
@@ -192,7 +192,7 @@ class Operation : public IUserObj
                                      const DBLVECTOR& vAxRotHome, const DBLVECTOR& vAxRotPrec, DBLVECTOR& vAxRot) ;
       bool   VerifyLineMidPoint( const Point3d& ptPrec, const Vector3d& vtDirPrec, const Vector3d& vtAuxPrec, const Vector3d& vtCorrPrec, const DBLVECTOR& vAxPrec,
                                  const Point3d& ptP, const Vector3d& vtDir, const Vector3d& vtAux, const Vector3d& vtCorr, const DBLVECTOR& vAxVal,
-                                 int nCnt, int nEntId, double dRot1W, bool& bAdded, bool& bAxError) ;
+                                 int nCnt, int nEntId, double dRot1W, int nMoveType, bool& bAdded, bool& bAxError) ;
       bool   CalculateClPathRobotAxesValues( int nClPathId, int nLinAxes, int nRotAxes, double dRot1W,
                                              bool bMaxDeltaR2OnFirst, bool bRotContOnNext, double dAngDeltaMinForHome,
                                              const DBLVECTOR& vAxRotHome, DBLVECTOR& vAxRotPrec) ;