Egalware/EgtMachKernel
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EgtMachKernel :

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- in simulazione, generazione e stima aggiunti alcuni dati del movimento successivo.
This commit is contained in:
Dario Sassi
2024-07-23 16:31:36 +02:00
parent c4ee2661b0
commit 6d742580fa
5 changed files with 122 additions and 14 deletions
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Processor.cpp
+58 -8
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@@ -414,7 +414,7 @@ Processor::ProcessClPath( int nClPathId, int nClPathInd, int nOpId, int nOpInd)
// processo l'entità
if ( ! ProcessClEnt( nEntId, nEntInd, nClPathId, nClPathInd, nOpId, nOpInd))
bOk = false ;
// passo all'entità successivo
// passo all'entità successiva
nEntId = m_pGeomDB->GetNext( nEntId) ;
}
@@ -449,19 +449,24 @@ Processor::ProcessClEnt( int nEntId, int nEntInd, int nClPathId, int nClPathInd,
if ( pCamData == nullptr || pCamData->GetAxesStatus() != CamData::AS_OK)
return false ;
const DBLVECTOR& AxesEnd = pCamData->GetAxesVal() ;
// Emetto movimento
int nMove = pCamData->GetMoveType() ;
// Recupero i dati Cam del movimento successivo del percorso (se esiste)
CamData* pNextCamData = GetCamData( m_pGeomDB->GetUserObj( m_pGeomDB->GetNext( nEntId))) ;
int nMoveNext = ( pNextCamData != nullptr ? pNextCamData->GetMoveType() : -1) ;
DBLVECTOR AxesNull ;
const DBLVECTOR& AxesNext = ( pNextCamData != nullptr ? pNextCamData->GetAxesVal() : AxesNull) ;
// Emetto movimento
switch ( nMove) {
case 0 : // rapido
if ( ! OnRapid( nEntId, nEntInd, nMove, AxesEnd, pCamData->GetAxesMask(),
pCamData->GetToolDir(), pCamData->GetCorrDir(), pCamData->GetBackAuxDir(),
pCamData->GetFlag(), pCamData->GetFlag2(), pCamData->GetIndex()))
pCamData->GetFlag(), pCamData->GetFlag2(), pCamData->GetIndex(), nMoveNext, AxesNext))
return false ;
break ;
case 1 : // linea
if ( ! OnLinear( nEntId, nEntInd, nMove, AxesEnd,
pCamData->GetToolDir(), pCamData->GetCorrDir(), pCamData->GetBackAuxDir(),
pCamData->GetFeed(), pCamData->GetFlag(), pCamData->GetFlag2(), pCamData->GetIndex()))
pCamData->GetFeed(), pCamData->GetFlag(), pCamData->GetFlag2(), pCamData->GetIndex(), nMoveNext, AxesNext))
return false ;
break ;
case 2 : // arco CW
@@ -471,7 +476,7 @@ Processor::ProcessClEnt( int nEntId, int nEntInd, int nClPathId, int nClPathInd,
if ( ! OnArc( nEntId, nEntInd, nMove, AxesEnd,
pCamData->GetAxesCen(), ptMid, pCamData->GetAxesRad(), pCamData->GetAxesAngCen(),
pCamData->GetToolDir(), pCamData->GetCorrDir(), pCamData->GetBackAuxDir(),
pCamData->GetFeed(), pCamData->GetFlag(), pCamData->GetFlag2(), pCamData->GetIndex()))
pCamData->GetFeed(), pCamData->GetFlag(), pCamData->GetFlag2(), pCamData->GetIndex(), nMoveNext, AxesNext))
return false ;
break ;
}
@@ -974,7 +979,7 @@ Processor::OnPathEndAux( int nInd, const string& sAE)
bool
Processor::OnRapid( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd, int nAxesMask,
const Vector3d& vtTool, const Vector3d& vtCorr, const Vector3d& vtAux,
int nFlag, int nFlag2, int nIndex)
int nFlag, int nFlag2, int nIndex, int nMoveNext, const DBLVECTOR& AxesNext)
{
// cancello variabili estranee
ResetArcData() ;
@@ -1006,6 +1011,21 @@ Processor::OnRapid( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_FLAG2, nFlag2) ;
// assegno il valore dell'indice
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_INDEX, nIndex) ;
// anticipazione di alcuni dati dell'eventuale movimento successivo dello stesso percorso
if ( nMoveNext != -1) {
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MOVESUCC, nMoveNext) ;
for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
if ( i <= nNumAxes)
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisNext( i, GLOB_VAR, bIsRobot), AxesNext[i-1]) ;
else
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisNext( i, GLOB_VAR, bIsRobot)) ;
}
}
else {
bOk = bOk && m_pMachine->LuaResetGlobVar( GLOB_VAR + GVAR_MOVESUCC) ;
for ( int i = 1 ; i <= MAX_AXES ; ++ i)
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisNext( i, GLOB_VAR, bIsRobot)) ;
}
// chiamo la funzione di movimento in rapido
bOk = bOk && CallOnRapid() ;
return bOk ;
@@ -1015,7 +1035,7 @@ Processor::OnRapid( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd
bool
Processor::OnLinear( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd,
const Vector3d& vtTool, const Vector3d& vtCorr, const Vector3d& vtAux,
double dFeed, int nFlag, int nFlag2, int nIndex)
double dFeed, int nFlag, int nFlag2, int nIndex, int nMoveNext, const DBLVECTOR& AxesNext)
{
// cancello variabili estranee
ResetArcData() ;
@@ -1047,6 +1067,21 @@ Processor::OnLinear( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEn
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_FLAG2, nFlag2) ;
// assegno il valore dell'indice
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_INDEX, nIndex) ;
// anticipazione di alcuni dati dell'eventuale movimento successivo dello stesso percorso
if ( nMoveNext != -1) {
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MOVESUCC, nMoveNext) ;
for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
if ( i <= nNumAxes)
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisNext( i, GLOB_VAR, bIsRobot), AxesNext[i-1]) ;
else
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisNext( i, GLOB_VAR, bIsRobot)) ;
}
}
else {
bOk = bOk && m_pMachine->LuaResetGlobVar( GLOB_VAR + GVAR_MOVESUCC) ;
for ( int i = 1 ; i <= MAX_AXES ; ++ i)
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisNext( i, GLOB_VAR, bIsRobot)) ;
}
// chiamo la funzione di movimento in rapido
bOk = bOk && CallOnLinear() ;
return bOk ;
@@ -1057,7 +1092,7 @@ bool
Processor::OnArc( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd,
const Point3d& ptCen, const Point3d& ptMid, double dRad, double dAngCen,
const Vector3d& vtTool, const Vector3d& vtCorr, const Vector3d& vtAux,
double dFeed, int nFlag, int nFlag2, int nIndex)
double dFeed, int nFlag, int nFlag2, int nIndex, int nMoveNext, const DBLVECTOR& AxesNext)
{
// assegno Id e indice entità di movimento
bool bOk = m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MOVEID, nEntId) ;
@@ -1099,6 +1134,21 @@ Processor::OnArc( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd,
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_FLAG2, nFlag2) ;
// assegno il valore dell'indice
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_INDEX, nIndex) ;
// anticipazione di alcuni dati dell'eventuale movimento successivo dello stesso percorso
if ( nMoveNext != -1) {
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MOVESUCC, nMoveNext) ;
for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
if ( i <= nNumAxes)
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisNext( i, GLOB_VAR, bIsRobot), AxesNext[i-1]) ;
else
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisNext( i, GLOB_VAR, bIsRobot)) ;
}
}
else {
bOk = bOk && m_pMachine->LuaResetGlobVar( GLOB_VAR + GVAR_MOVESUCC) ;
for ( int i = 1 ; i <= MAX_AXES ; ++ i)
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisNext( i, GLOB_VAR, bIsRobot)) ;
}
// chiamo la funzione di movimento in rapido
bOk = bOk && CallOnArc() ;
return bOk ;