Egalware/EgtMachKernel
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EgtMachKernel :

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- aggiunta lavorazione di mortasatura
- aggiunt agestione angolo indeterminato su secondo asse rotante.
This commit is contained in:
Dario Sassi
2018-02-28 09:35:51 +00:00
parent 1536d42f31
commit 6d324ba067
17 changed files with 2502 additions and 59 deletions
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Simulator.cpp
+45 -19
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@@ -51,6 +51,8 @@ Simulator::Simulator( void)
m_nAuxETot = 0 ;
m_nAuxEInd = 0 ;
m_nVmId = GDB_ID_NULL ;
m_dVmTdOffs = 0 ;
m_dVmAdOffs = 0 ;
m_bEnabAxes = true ;
m_AxesName.reserve( 8) ;
m_AxesToken.reserve( 8) ;
@@ -401,6 +403,23 @@ Simulator::UpdateTool( bool bFirst)
// aggiorno gli assi macchina
if ( ! UpdateAxes())
return false ;
// eventuali offset per Vmill (per adattare lo ZeroT macchina con quello di Zmap)
int nToolType ; m_pMchMgr->TdbGetCurrToolParam( TPA_TYPE, nToolType) ;
if ( nToolType == TT_MORTISE_STD) {
double dThick ; m_pMchMgr->TdbGetCurrToolParam( TPA_THICK, dThick) ;
m_dVmTdOffs = 0 ;
m_dVmAdOffs = 0.5 * dThick ;
}
else if ( nToolType == TT_SAW_STD || nToolType == TT_SAW_FLAT) {
double dLen ; m_pMchMgr->TdbGetCurrToolParam( TPA_LEN, dLen) ;
double dThick ; m_pMchMgr->TdbGetCurrToolParam( TPA_THICK, dThick) ;
m_dVmTdOffs = - dLen + dThick ;
m_dVmAdOffs = 0 ;
}
else {
m_dVmTdOffs = 0 ;
m_dVmAdOffs = 0 ;
}
// eventuale lancio script
if ( ! OnToolSelect( m_sTool, sHead, nExit, sTcPos, bFirst))
return false ;
@@ -598,9 +617,11 @@ Simulator::FindAndManageOperationStart( bool bStart, bool bFirst, int& nStatus)
nStatus = MCH_SIM_ERR ;
return false ;
}
// aggiorno visualizzazione e breve pausa (200 ms)
ExeDraw() ;
Sleep( 200) ;
// se non è inizio, aggiorno visualizzazione e breve pausa (200 ms)
if ( nPhase != 1) {
ExeDraw() ;
Sleep( 200) ;
}
}
}
// passo alla operazione successiva
@@ -830,8 +851,8 @@ Simulator::ManageMove( int& nStatus)
m_dCoeff = 1 ;
// Posizione e direzione attuali dell'utensile e riferimento attuale del pezzo (per Vmill)
Point3d ptNoseI ; Vector3d vtDirI ; Frame3d frVzmI ;
bool bOkI = GetHeadCurrPosDir( ptNoseI, vtDirI) && m_pGeomDB->GetGlobFrame( m_nVmId, frVzmI) ;
Point3d ptNoseI ; Vector3d vtDirI ; Vector3d vtAuxI ; Frame3d frVzmI ;
bool bOkI = GetHeadCurrPosDirAux( ptNoseI, vtDirI, vtAuxI) && m_pGeomDB->GetGlobFrame( m_nVmId, frVzmI) ;
// Eseguo movimento rapido o lineare
if ( nMoveType != 2 && nMoveType != 3) {
@@ -842,9 +863,9 @@ Simulator::ManageMove( int& nStatus)
}
// eseguo eventuale Vmill
if ( m_nVmId != GDB_ID_NULL) {
Point3d ptNoseF ; Vector3d vtDirF ; Frame3d frVzmF ;
bool bOkF = GetHeadCurrPosDir( ptNoseF, vtDirF) && m_pGeomDB->GetGlobFrame( m_nVmId, frVzmF) ; ;
ExecVmillOnLine( ptNoseI, vtDirI, frVzmI, ptNoseF, vtDirF, frVzmF) ;
Point3d ptNoseF ; Vector3d vtDirF ; Vector3d vtAuxF ; Frame3d frVzmF ;
bool bOkF = GetHeadCurrPosDirAux( ptNoseF, vtDirF, vtAuxF) && m_pGeomDB->GetGlobFrame( m_nVmId, frVzmF) ; ;
ExecVmillOnLine( ptNoseI, vtDirI, vtAuxI, frVzmI, ptNoseF, vtDirF, vtAuxF, frVzmF) ;
}
}
// Eseguo movimento su arco
@@ -876,9 +897,9 @@ Simulator::ManageMove( int& nStatus)
}
// eseguo eventuale Vmill
if ( m_nVmId != GDB_ID_NULL) {
Point3d ptNoseF ; Vector3d vtDirF ; Frame3d frVzmF ;
bool bOkF = GetHeadCurrPosDir( ptNoseF, vtDirF) && m_pGeomDB->GetGlobFrame( m_nVmId, frVzmF) ;
ExecVmillOnLine( ptNoseI, vtDirI, frVzmI, ptNoseF, vtDirF, frVzmF) ;
Point3d ptNoseF ; Vector3d vtDirF ; Vector3d vtAuxF ; Frame3d frVzmF ;
bool bOkF = GetHeadCurrPosDirAux( ptNoseF, vtDirF, vtAuxF) && m_pGeomDB->GetGlobFrame( m_nVmId, frVzmF) ;
ExecVmillOnLine( ptNoseI, vtDirI, vtAuxI, frVzmI, ptNoseF, vtDirF, vtAuxF, frVzmF) ;
// aggiorno prossimo inizio
ptNoseI = ptNoseF ;
vtDirI = vtDirF ;
@@ -934,7 +955,7 @@ Simulator::ManageMove( int& nStatus)
//----------------------------------------------------------------------------
bool
Simulator::GetHeadCurrPosDir( Point3d& ptH, Vector3d& vtH)
Simulator::GetHeadCurrPosDirAux( Point3d& ptH, Vector3d& vtH, Vector3d& vtA)
{
// ci devono essere almeno i tre assi lineari
if ( m_AxesName.size() < 3)
@@ -950,13 +971,14 @@ Simulator::GetHeadCurrPosDir( Point3d& ptH, Vector3d& vtH)
// determino posizione e orientamento della testa
m_pMachine->GetNoseFromPositions( vLinAx[0], vLinAx[1], vLinAx[2], vRotAx, ptH) ;
m_pMachine->GetToolDirFromAngles( vRotAx, vtH) ;
m_pMachine->GetAuxDirFromAngles( vRotAx, vtA) ;
return true ;
}
//----------------------------------------------------------------------------
bool
Simulator::ExecVmillOnLine( const Point3d& ptHi, const Vector3d& vtHi, const Frame3d& frVzmI,
const Point3d& ptHf, const Vector3d& vtHf, const Frame3d& frVzmF)
Simulator::ExecVmillOnLine( const Point3d& ptHi, const Vector3d& vtHi, const Vector3d& vtAi, const Frame3d& frVzmI,
const Point3d& ptHf, const Vector3d& vtHf, const Vector3d& vtAf, const Frame3d& frVzmF)
{
// Recupero Zmap
IVolZmap* pVZM = GetVolZmap( m_pGeomDB->GetGeoObj( m_nVmId)) ;
@@ -965,13 +987,19 @@ Simulator::ExecVmillOnLine( const Point3d& ptHi, const Vector3d& vtHi, const Fra
// Porto gli estremi nel riferimento opportuno dello Zmap
Point3d ptHiL = ptHi ; ptHiL.ToLoc( frVzmI) ;
Vector3d vtHiL = vtHi ; vtHiL.ToLoc( frVzmI) ;
Vector3d vtAiL = vtAi ; vtAiL.ToLoc( frVzmI) ;
Point3d ptHfL = ptHf ; ptHfL.ToLoc( frVzmF) ;
Vector3d vtHfL = vtHf ; vtHfL.ToLoc( frVzmF) ;
Vector3d vtAfL = vtAf ; vtAfL.ToLoc( frVzmI) ;
// Eventuali offset
ptHiL += m_dVmTdOffs * vtHiL + m_dVmAdOffs * vtAiL ;
ptHfL += m_dVmTdOffs * vtHfL + m_dVmAdOffs * vtAfL ;
// Log per debug
//string sOut = "Pi=(" + ToString( ptHiL) + ") Vi=(" + ToString( vtHiL) + ") Pf=(" + ToString( ptHfL) + ") Vf=(" + ToString( vtHfL) + ")" ;
//string sOut = "Pi=(" + ToString( ptHiL) + ") Vi=(" + ToString( vtHiL) + ") Ai=(" + ToString( vtAiL) +
// ") Pf=(" + ToString( ptHfL) + ") Vf=(" + ToString( vtHfL) + ") Af=(" + ToString( vtAfL) + ")" ;
//LOG_INFO( GetEMkLogger(), sOut.c_str())
// Eseguo
return pVZM->MillingStep( ptHiL, vtHiL, ptHfL, vtHfL) ;
return pVZM->MillingStep( ptHiL, vtHiL, vtAiL, ptHfL, vtHfL, vtAfL) ;
}
//----------------------------------------------------------------------------
@@ -1085,10 +1113,8 @@ 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() ;
// reset assi ausiliari
// recupero i dati di ritorno per assi ausiliari
ResetAuxAxes() ;
// recupero i dati di ritorno
int nNumAuxAxes = 0 ;
if ( ! m_pMachine->LuaGetGlobVar( GLOB_VAR + GVAR_AUXAXES, nNumAuxAxes) || nNumAuxAxes == 0)
return true ;